Inverse Kinematics for RA-01 Robotic Arm

[a,b,c] = InverseKinematicsAM(x,y,z)
This function finds the joint configurations for the waist, shoulder and elbow of the RA-01 robotic arm made by Images SI, Inc. It takes in three inputs which are the specifications of the x, y and z positions of the centre of the gripper of the robotic arm. The inverse kinematics is computed and the joint configuration is output, where:
- a is the angular configuration of the waist;
- b is the angular configuration of the shoulder; and
- c is the angular configuration of the elbow
This file requires another file submitted by me to this exchange, namely "armTransform.m". It uses this file to compute the forward kinematics for error checking and to ensure that it picks the correct solution from each set of four possible solutions.