[Stephany Sastoke Gonzalez]

Una parte esta en ; ;https://hackaday.io/project/12989-thor/log/44018-inverse-kinematics.... Pero debes revisar los parámetros D-H ; que tengas

[Stephany Sastoke Gonzalez]

Initially you can use Matlab with a simple parameterization so you can start with elements in a plane and more, and you can see the planning of trajectories in Matlab documentation using the inverse

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