For a PUMA 560 robot manipulator with the following kinematic table,
| Joint | d(m) | a(m) | α | θ |
| 1 | 0 | 0 | -90◦ | 0◦ |
| 2 | 0 | 0.432 | 0◦ | 0◦ |
| 3 | 0.149 | -0.02 | 90◦ | 0◦ |
| 4 | 0.433 | 0 | -90◦ | 0◦ |
| 5 | 0 | 0 | 90◦ | 0◦ |
| 6 | 0 | 0 | 0◦ | 0◦ |
−160◦ ≤θ1 ≤ 160◦, −125◦ ≤θ2 ≤ 125◦
−135◦ ≤θ3 ≤ 135◦, −140◦ ≤θ4 ≤ 140◦
−100◦ ≤θ5 ≤ 100◦, −260◦ ≤θ6 ≤ 260◦
please write a program for the following two transformations:
- input: Cartesian point (n, o, a, p), output: the corresponding joint variables.
- input: joint variables, output: Cartesian point (n, o, a, p) and (x, y, z, φ, θ, ψ).
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