5-axis/6-axis robotic arm

[Liaouzhe]

Hi, thanks for the code, inverse kinematics has been bugging me.

I would like to ask you a few questions:

1. I use matlab to calculate the forward kinematics. The calculated end frame rotational matrix is close to your calculated value, but the end frame xyz value is not the same as your calculated value.

2. You have entered the theta once in dh_params, which is the initial value? Next, robot.forward(theta) enters the theta value to calculate the end frame t_4_4. I found that the theta value in dh_params is different. Only the end frame xyz in end frame t_4_4 is calculated. The value would actually be different.

3. What do these three parameters of end frame abc mean?

4. I use the 6 theta values in inverse.py to substitute into forward.py to find the end frame xyz and end frame abc values are the same as inverse.py, but the end frame xyz and end frame calculated by forward.py Is the value of abc substituted into the six theta values obtained by inverse.py and the value of forward.py different?

Thank you