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Cyclic Coordinate Descent Inverse Kinematics of n-Link Arm Robot in 2D Space with Python and Matplotlib

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CCD-Inverse-Kinematics-2D

Cyclic Coordinate Descent Inverse Kinematics of n-Link Arm Robot in 2D Space with Python and Matplotlib.

Question : eko.rudiawan@gmail.com

Animation

CCD Inverse Kinematics

Requirement

  1. Python 3
  2. Numpy
  3. Matplotlib

How to Change Total Link and Length of the Link

# Example robot link parameter
# Total link = 4
# Length link_0 = 50
# Length link_1 = 40
# Length link_2 = 35
# Length link_3 = 30
link = [50, 40, 35, 30]

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