├── demo ├── bring_cup_with_matlab_jtraj.m ├── show_forward.m ├── show_inverse.m └── test_ik_fk.m ├── forward_kinematics └── forward_kinematics.m ├── inverse_kinematics ├── find_best_joints_with_min_change.m ├── ik_double_theta456.m ├── ik_matlab.m ├── ik_theta1.m ├── ik_theta2.m ├── ik_theta3.m ├── ik_theta4.m ├── ik_theta5.m ├── ik_theta6.m ├── ik_valid.m ├── inverse_kinematics.m ├── inverse_kinematics_one.m └── note.txt ├── main.m ├── matlab_trajectory_plan ├── get_ctraj.m └── get_jtraj.m ├── my_trajectory_plan ├── bring_cup_with_my_trajectory.m ├── get_cartesian_trajectory_plan.m ├── get_joint_data.m └── get_joints_trajectory_plan.m ├── plot └── plot_data.m ├── robot ├── puma560_dh.m ├── puma560_display_joints.m └── puma560_robot.m └── utils ├── DH2cartesian.m ├── util_close_zero_to_zero.m ├── util_close_zero_to_zero_T.m ├── util_compare_same_T.m ├── util_fixed_angle2r.m ├── util_get_end_joint_matric.m ├── util_get_eul_angle_from_T.m ├── util_get_fixed_angle_from_T.m └── 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