Today I’d like to show you how to use Gradient Descent to solve Inverse Kinematics for your robot arm with a practical example. I used GDIK to improve the movement planning of the SIXI robot arm and I was blown away by how much simpler it was to understand and implement. Read on to see how it works so good.
From any web-enabled desktop browser you can experiment with the kinematics of a robot arm at http://robot.glumb.de/
The author, Maximilian Beck, has made all the code available online at https://github.com/glumb/robot-gui. Be sure to check out his other interesting projects on github, too.
