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Inverse Kinematics Solver

A code package that solves forward and inverse kinematics

Client   / 

As a final project, I developed a software kit that allows the user to solve forward and inverse kinematics, in this case for a specific KUKA IIWA-14 7DOF robot, in a number of ways. It also shows the workspace boundaries of the robot given the real joint limits of the robot. It uses both a brute force method, and a gradient descent using Jacobian approach, to solve the inverse kinematics portion of the problem. The github project can be found below

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