function invpumatester(a)
for i=1:a
disp('--------------------------------------------');
param = [2 2 2 .2];
theta = [pi*rand pi*rand pi*rand pi*rand pi*rand pi*rand]
T = puma6dof(theta, param , [0 0 0]);
thetanew = invpuma6dof(T, param)
T1 = puma6dof(thetanew(1,:), param , [0 0 0])
toleq(T,T1,0.001);
T2 = puma6dof(thetanew(2,:), param , [0 0 0])
toleq(T,T2,0.001);
T3 = puma6dof(thetanew(3,:), param , [0 0 0])
toleq(T,T3,0.001);
T4 = puma6dof(thetanew(4,:), param , [0 0 0])
toleq(T,T4,0.001);
end