Procedure

• Insert different values of ϑ within the joint range as prescribed in theory part and then click ok to get the output orientation and position of the end effector.
• To see the individual movements of the links drag the sliders on the controller panel.
• The Transformation matrix for a particular position and orientation can be obtained either through input panel or via the controller.
• Manipulator position is shown in a 3D graph for every submission of joint values.
• The view can be rotated about a point by keeping the left mouse button pressed and rotating the mouse.
• The view can be translated by keeping the right mouse button pressed and translating the mouse in the desired direction.
• The scroll button or middle mouse button can be used for zooming.