Code: Implementing HuPf Algorithm for the inverse Kinematics of General 6R/P Manipulators

In this version of the codebase we include GIAC implementation of the algorithms we proposed in our paper "Implementing HuPf Algorithm for the Inverse Kinematics of General 6R/P Manipulators". For the inverse kinematics, we have only added some test files on random robots of each 3R/P joint types. However, we stop short on just computing the pose of the fourth frame because computing the other joint values involve simple backsubstitition (we may include this in the next version). We also have a C++ (fastest!. However symbolic computation involving computing the linear spaces is done via a computer algebra system), Mathematica and Maple implementations of the algorithms that we will soon share in the next versions.