Inverse Kinematics

Kinematics describes how a hierarchical skeletal structure moves. This project employed the Transpose of the Jacobian Method to perform inverse kinematics. While forward kinematics describes world space positions based off of joint angle values, inverse kinematics computes the joint angle values necessary to have an end effector reach a specific goal. The Transpose of the Jacobian Method uses the transpose of the Jacobian matrix instead of the inverse to make small adjustments to the joint angles until the end effector is at, or as close as possible, to the desired goal while respecting angle limits.

Here are some images of the results of my implementation.