function [Q] = InversePuma(TIP) Xtip = TIP(1); Ytip = TIP(2); Ztip = TIP(3); w = sqrt(Xtip^2 + Ytip^2); b = sqrt(w^2 - 5^2); Qd = atan2(5, b); Qtip = atan2(Ytip, Xtip); q1 = Qtip - Qd; a = Ztip - 50; r = sqrt(b^2 + a^2); c = sqrt(50^2 - (r/2)^2); qa = atan2(a, b); qc = atan(c / (r/2) ); q2 = - ( qa + qc ); q3 = 2*qc; q4 = -q2 - q3; Q = [q1; q2; q3; q4; 0]; end