Hey there,

I successfully was able to give the endeffector an end position but I am unfortunately not able to turn the endeffector.... - basically I just want to tilt the endefectors position(in x and y) and turn it around its own axis

Any ideas how to achieve that?

Oh I just saw that you are using only 4 joints (with base joint) so it is not possible to influence the endeffectors orientation directly ...... more joints are required!

So perfect would be if you kind of know the transformation from link3 (-0.062257 -0.0012327 0.14769) to the endeffector's position

Markus