Inverse Kinematics Solver

Used an arm with 4 segments of lengths of 5.0, 4.0, 3.0, and 2.0. Arm tries to reach a goal using an inverse kinematics solver by calculating the angles between segments. Calculated the pseudo-inverse of the Jacobian matrix for each joint by using the Eigen SVD solver. Results that gave an out-of-reach goal were handled by scaling the vector toward the goal so that the arm was completely taut and extended.

Demonstration of keyboard functions



Goal moves over path through location of base joint.

5-Petal Flower