Using the link lengths of your manipulator as defined in its forward kinematics, work out the inverse kinematics for the Lynx-6 end-effector. That is, given a desired end-effector configuration $g_e^* \in SE(3)$, figure out a joint configuration $\vec \alpha$ that places the manipulator end-effector there if it is possible to do so. If it is not, then indicate as much.

Validity of the results can be done by applying the forward kinematics routine to the found joint angles. It should return the configuration requested.

A more fun option would be to use the lynx6 display code to see if it really works out. To visualize the target end-effector configuration, plot it using the $SE(3)$ class, then see if the end-effector really ends up there.

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