Inverse Kinematics (IK)

This IK simulation use Pseudo-inverse Jacobian matrix to solve the robot arm motion. The algorithm is based on this paper:

Samuel R. Russ, Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods, October 7 2009.

At the time I wrote this program, I used OGRE as a handy SDK.

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