Inverse kinematics? about geometry HOT 2 CLOSED

Hey @yaxu, thanks for your interest in my library! I'd be happy to give you some pointers.

Firstly, what you're looking for is indeed inverse kinematics which unfortunately is a little bit trickier than inverse dynamics. You might be able to come up with an closed form solution but that really depends on the way you set up your mechanism and how many servos you're using.

Failing that, you can use a numeric solution where you use the Newton-Raphson method (or something similar) to solve for a set of joint angles that minimise the distance between the end effector position and your target position. I actually had some code for that in this repo a while ago, you can find it here - it's pretty inefficient and it won't compile with the latest version of this library but it might be a handy example. This medium article seems to describe the same thing so you can check that out for a more detailed explanation.

On the other hand if you want to go full-commit then I'd really recommend reading chapter 6 of this book: Modern Robotics
Mechanics, Planning, and Control, it involves a bit of math but it's a great read.

Hope that helps!

from geometry.

Thanks for the pointers @tomstewart89, I'll see what I can wrap my head around!

from geometry.