% optimize 3 link inverse kinematics
% implement a desired posture

% to run program.
1) start matlab

2) change matlab directory to this one.

3) type
main

4) type
mainsearch
or
mainunc

FILES:
main.m: main routine
mainxxx: calls fminxxx()
criterion.m: optimization criterion

A 3 link robot with maximum reach of 1m is controlled.