Control of the wrist

Hi ! ;
It’s me (again). This post is about the control of the wrist, more precisely about his kinematic inverse model. ;I saw that you detailed your way to calculate q4,q5 and q6.I did it thanks to Matlab and find something different. By that, I mean that I have some plus and minus sign inside the arccos and arcsin, maybe I did something wrong.So I would like to know if you have ever tested the orientation of the wrist thanks to the formula on your Project’s Log hackaday (see the .png) ? Did it work well ? If yes, so I totally trust the calculations you’ve done :). ;
Thanks again for your reply. ;