docs: update links and formatting in README.md

docs: add spacing and formatting alterations

docs: add images and update README.md

docs: add DH parameter definitions

docs: add section on debugging, IK, and FK

docs: develop Code Analysis section on README.md and update images

docs: update README.md with logo and safe_spawner.sh

feat: alter sideB calculation and add the startup shell script

refactor: define transformationMatrix function

feat: add theta4 theta5, and theta6

feat: add theta3

style: fix links and formatting

first commit