I'm trying to implement a force control architure on 3 DoF articulated manipulator. The robot's model is imported from SolidWorks.
When I give the joint angles (q's), computed on specfied end-effector coordinates (xyz) from Inverse Kinematic Block to Get Transform (Forward Kinematics Block), I'm not getting the same (y and z) end-effector coordinates. The x-coordinates are the same.
As you can see from the attached image, the given xyz coordinates are [0.33 0.33 0] and Inverse Kinematics block gives joint angles [-1.127 1.579 0]. When computed joint angles are applied to forward kinematics / Get Transform block, the computed end effector coordinates are [0.3312 -0.02108 0.2981] ('Red Encircled'). Shoudn't they be [0.33 0.33 0].
PS: 1) I have also changed the imported robot model with the one given in the example named ("Trace An End-Effector Trajectory with Inverse Kinematics in Simulink") and faced the same issue.
2) I have made sure that the given end effector coordinates are within Task-space of the robot.