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[SOLVED] positionning a robot on xyz

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I need help to find the equations to be able to move my robot arm(3 articulations) on XYZ. I would like to give the three coordonate XYZ and find the three coresponding angles for my robot axes.

Or can you give me a link where it is explaned.

u can try all the information a bout mark spong, or the robotics and control books.
the matlab have a sample program just for a xy arm.

Robot Books

U can find the forward kinematic and also invert kinematic by define frame attatch on the robot link. First step that is U need to know D-H parameter..... So let find the Robot book such as craig or Bruno siciliano then U will see... Find the book name Introduction to the library.. 3 links not so hard. have a nice day.... Futher question can ask me directly at

Ebook.. Robot

Read the example.....

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