%Inverse Kinematics

syms q1 q2
R1 = SerialLink([Revolute('a',3) Revolute('a',2)],'name', 'R1')
T1=R1.fkine([10,20],'deg')
T = Robot1.fkine( [q1, q2] );

x = T1.t(1);
y = T1.t(2);
z = T1.t(3);

e1 = vpa(x== T.t(1))
e2 = vpa(y== T.t(2))

[t1,t2] = solve([e1 e2],[q1 q2]);

theta1=radtodeg(double(t1))
theta2=radtodeg(double(t2))

R1 =

R1:: 2 axis, RR, stdDH, slowRNE

+---+-----------+-----------+-----------+-----------+-----------+
| j | theta | d | a | alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 0| 3| 0| 0|
| 2| q2| 0| 2| 0| 0|
+---+-----------+-----------+-----------+-----------+-----------+

T1 =
-0.9122 0.4098 0 -0.7036
-0.4098 -0.9122 0 1.963
0 0 1 0
0 0 0 1

e1 =

-0.70363980217170496445078242686577 == 2.0*cos(q1 + q2) + 3.0*cos(q1)

e2 =

1.963251771878902207646433453192 == 2.0*sin(q1 + q2) + 3.0*sin(q1)

theta1 =

68.0635
151.3724

1
theta2 =

136.1270
-136.1270

Published with MATLAB® R2019a