Inverse Kinematics
This project implemented inverse kinematics based on Korein and Badlen's
workspace technique. I found an easy way to calculate the exact solution
of the final position of arbitrarily complex chains. This method doesn't
need to loop around to search for a solution and the solution can be
found interactively while the position of the fixed point or the end
effector of the chain is being changed.
In the images below: the white chain indicates the original position
of the chain; the orange diamond is the fixed point of the chain, the
red diamond is the original position of the end effector and the yellow
diamond is the final goal position.
Below is a chain with six segments.
