% demo 2 link forward and inverse kinematics

% to run program.
1) start matlab

2) change matlab directory to this one.

3) type
main

FILES:
main.m: main routine
fk2.m: forward kinematics
ik2.m: inverse kinematics
initdraw.m: set up drawing program
draw2.m: draw the arm
criterion.m: optimization criterion for inverse kinematics
mainsearch.m: use optimization to do inverse kinematics using fminsearch()
mainunc.m: use optimization to do inverse kinematics using fminunc()

