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So i solved the first 3 Joints of this 6DOF but i dont know how to deal with the Rotation Matrix at Joint 4,5 and 6. I know that i need a XYX Rotation Matrix but I dont know how to affect the TCP with it.

This is my current State: https://www.youtube.com/watch?v=YVI0FZqCo1g

If there are Questions about smth let me know

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