Input Joint Values

`theta_1`
`theta_2`
`theta_3`
`theta_4`
`theta_5`

Final Transformation Matrix

(End-effector position and orientation)

Slider-based Robot Joints Controller Panel

Waist Joint
  
Shoulder Joint
  
Elbow Joint
  
Wrist Bend
  
Wrist Roll
  

           

Robot end-effector Position