An example for using the inverse dynamics with any simulation using MATLAB

[wbadry]

Hello,
Is there any way to get a hint of how to use the MATLAB code with any simulation?

For instance how to move to x,y, theta? I can get the joint names and send any angle to any joint but hold no idea how to use your code to generate the angle for each joint.

[marckLoza]

I have the same question, because the functions are not designed to receive (x, y, z) position, it looks like could calculate the forward kinematics according to the theta array