I really like your work, but I found it while I was looking for Inverse and Forward Kinematics, so I added some on your work!
Mainly Forward Kin in the RobotJoints.java
I’m still working on the Inverse Kin, in the RobotPose.java, it doesn’t always work. I needed it quite quickly, so I just threw something together. As the first 3 joints change the position mostly, I only use those for coordinates change and only the last 3 joints for rotation.
As you can see there, I also did an attempt on Jacobian Inverse, and it wasn’t working very well, so I just scrapped it for now and maybe I’ll go back to it later.
2 Likes