Solve the inverse kinematics for position of the wrist center. That is, find equ

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Solve the inverse kinematics for position of the wrist center. That is, find equations for the joint angles to place the origins of F_4, F_5, and F_6 at a desired point d_c_^0 = [p_x, p_y, p_z]^T. You do not have to worry about the orientation inverse kinematics or placing the end effector frame at a desired point. That is, the DH parameter provided are sufficient to solve this problem. I suggest you use the algebraic approach. Calculate the Ai matrics and find useful elements to solve for the joint angles.

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