2D Inverse kinematics solver for a 2D redundant robotic arm

Three diferent methods are used to solve the inverse kinematics:

• Jacobian pseudo transpose
• Jacobian transpose
• Jacobian pseudo transpose + null-space
  

Example of the visualisation:

Usage:

1. Download the repository
2. Install the required libraries defined in requeriments.txt
3. Run the main file providing the solving method (-m, --method):

• p -> Pseudo transpose
• t -> Transpose
• n -> Null space (Default)
  

E.g.

python3 main.p -m p