how can i get each joint angle from manipulator robot?

Ive made a robot model and wanted the end effector to go to point (1,0.5,0)

Using the inverse kinematics in the Robotics System Tololbox, ive manage to simulate the robot movement.

How can i get each joint angle from manipulator robot?

Robot: (3 bodies)

Idx Body Name Joint Name Joint Type Parent Name(Idx) Children Name(s)

--- --------- ---------- ---------- ---------------- ----------------

1 link1 joint1 revolute base(0) link2(2)

2 link2 joint2 revolute link1(1) tool(3)

3 tool fix1 fixed link2(2)

Answer 1

[MathWorks Robotics and Autonomous Systems Team]

When you use the IK object as mentioned on this page:

https://www.mathworks.com/help/robotics/ref/robotics.inversekinematics-system-object.html

[configSol,solInfo] = ik(endeffector,pose,weights,initialguess)

The configSol is the solution (i.e., the joint angles for the final solution to be satisfied).

[Muhammad Azizul Hakim Ali AKbar]

Thank you so much!!