function q=rueckwaertstrafo(dhp)

global dhp;
    dhp(1).beta=sym('b(1)');
    dhp(2).beta=sym('b(2)');
    dhp(3).beta=sym('b(3)');    
    dhp(4).beta=sym('b(4)');    
    dhp(5).beta=sym('b(5)');  
    dhp(6).beta=sym('b(6)');

    %x-y-z-EULER
    dhp(7).xE=20000;
    dhp(7).yE=40000;
    dhp(7).zE=40000;
    
    dhp(7).De = [1   0         0   dhp(7).xE; 
                  0   1         0   dhp(7).yE; 
                        0         0         1   dhp(7).zE; 
                        0         0         0            1 ]
    
    
    dhp(1).Dr = drehmatrix(dhp(1));
    dhp(2).Dr = drehmatrix(dhp(2));
    dhp(3).Dr = drehmatrix(dhp(3));
    dhp(4).Dr = drehmatrix(dhp(4));
    dhp(5).Dr = drehmatrix(dhp(5));
    dhp(6).Dr = drehmatrix(dhp(6));
 

    dhp(7).Dr = dhp(1).Dr * dhp(2).Dr * dhp(3).Dr * dhp(4).Dr * dhp(5).Dr * dhp(6).Dr;
    

   
   
    x0=(randn(6,1));
    
    options.LevenbergMarquardt='on';

    q= fsolve(@gleichungssystem,x0,options);
    
    
     

end