Inverse kinematics and pseudo-inverse of Jacobians
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Hello community!
I have these:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/319318/image.jpeg)
First, I want to find the inverse kinematics when are only active q1, q2 q4 and q3=q5=q7=0,q6=0.75rad.
Secondly, I want to find the pseudoinverse of Jacobians when all are active.
PS. I have found the homogenous transformations for every qi, i=1,2...7
Thanks in advance!
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