a complete analytical solution to inverse knematics of 8 or higher DOF manipulator

For robotic manipulators that are redundant or with high
degrees of freedom (dof ), an analytical solution to the
inverse kinematics is very difficult or impossible.
this program calculates the end effector position by giving theeta values an each and every joint using forward kinematics and also calculates theeta values by giving end effector position using inverse kinematics
input parameters in form of DH notation
parameters =
0 0.7854 1.0000 1.5708
0 0.7854 1.0000 0
0 0.7854 1.0000 0
0 0.7854 1.0000 0
where
d = parameter(1) = coloum 1
theta = parameter(2) = coloum 2
r = parameter(3) = coloum 3
alpha = parameter(4) = coloum 4
use this to solve end effector position ie 'e' and transform matrix
[e,Transform] = Forward_kinematics(parameters)
Now ‘e’ as a input we can find the joint angles using inverse kinematics
Use
parameters_inv = inverseKinematics(e, parameters )
the coloum 2 displays the new values of theta w r t the given point ‘e’
for validation type ‘echeck’ which will display the end effector given position
next type ‘e’ which will display the end effector final position where both should be same