Sunday, November 05, 2017

Inverse Kinematics Take 2

The current inverse kinematics code I have for my Lynxmotion AL5D arm fails to converge towards the edges of the chess board.

One efficient way to solve IK is the FABRIK algorithm.

There is a Python inverse kinematics library, ikpy.  It needs a Unified Robot Description Format (URDF) file to describe the arm though.

Also there is a Java FABRIK:

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