I'm writing a C program to find the inverse kinematics of a 6DOF robot. I've been able to write it successfully based on the general concept of Inverse Kinematics using DH parameters (i.e. finding the joint angles of the robot from its known orientation and position).
But I only have the values of the position of the robot's end effector, and link parameters (link lengths, link twists and the distance between links). How do I calculate the orientation of the robot's end effector with these values?
I'll be glad if someone can help. I'm also open to further questions for clarifications. Thank you in advance. 🙏