Dear all, I am currently working on a 4 degree of freedom robot that has to move in cartesian motion, thus requiring me to firgure out its inversekinematics. Being a 4DOF robot working it cannot achieve arbitrary positions and orientations but this is not what I care about. I want the robot to only achieve proper positioning. The problem I am facing is that my invese kinematics force the robot to maintain orientation and not position (I am guessing since the joint angles are primarily derived via the 3X3 rotation part of the forward kinematic matix). Is there a way to estimate an orientation while making the position of the tool the primary goal to be achieved. I have heard of a process called "Toolfitting" but so far haven't found anything on the topic via google or looking up the univesity catalogue. Regards and thanks for the help.