Inverse Kinematics Solver

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