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Description: Introduction to robotics third edition, PUMA560 robot 6 angle inverse solution program. DH parameter reference P80 page form, the calculation process using P90 formula, enter the T06 matrix, output 8 sets of solutions. PM5601 is a positive solution, 03 inverse solution, and INV is expressed as a function form.
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PM5601.m PM5603.m PUMA_INV.m