Inverse Kinematics in Matlab for Pick and Place Robot

I have modeled a pick and place robot. I want to simulate my model in Matlab. I imported the URDF file into MATLAB. I have also created the waypoints and generated the trajectory for my robot.

I want to perform inverse kinematics on my robot.

I am unable to write the code for inverse kinematics. I am stuck.

Please guide and help me with the code.

I have attached my files for your reference.

Thanks.

Answer 1

[Ali Murtatha Shuman]

You can take insperation from the Peter Corke 'ikcon' function in the Robotics Toolbox.