Kinematic

         DHFactor                    - transform sequence to DH description
         jsingu                      - find dependent joints
         fellipse                    - plot force ellipsoid
         fkine                       - forward kinematics
         ikine                       - inverse kinematics (numeric)
         ikine_sym                   - inverse kinematics (symbolic)
         ikine6s                     - inverse kinematics for 6-axis arm with sph.wrist
         jacob0                      - Jacobian in base coordinate frame
         jacobn                      - Jacobian in end-effector coordinate frame
         maniplty                    - compute manipulability
         trchain                     - express as chain of SE(3) transforms
         vellipse                    - plot velocity ellipsoid
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