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Hi I need a matlab function to calculate the Foward kinematics and another function to calcualte the inverse kinematics of this robot below. Orion5 Coordinate

Hi I need a matlab function to calculate the Foward kinematics and another function to calcualte the inverse kinematics of this robot below.
Orion5 Coordinate Frame Diagram 14 74 13 24 X4 V4 h = 53.0 r = 30.309 12 = 170.384 13-136.307 14 = 86.0 c = 40.0 2 2 (all units mm) Origin Orion5 Coordinate Frame Diagram 14 74 13 24 X4 V4 h = 53.0 r = 30.309 12 = 170.384 13-136.307 14 = 86.0 c = 40.0 2 2 (all units mm) Origin

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