This project is an inverse kinematics engine for a 6 DOF arm as described in the below diagram:
The repository can be cloned directly from github.
git clone https://github.com/heatblast016/6kin.git
In addition, you will need to install Matplotlib and NumPy if they aren't already installed
To specify the joint lengths L1, L2, L3, and L4, you can modify config.txt, with each line representing the length of the corresponding joint.
To run the program, run the command:
python3 main.py
The program should prompt for a desired 3-d position in xyz coordinates, as well as a desired tool orientation specified by roll, pitch, and yaw (rpy). More information about specifying rotations using rpy can be found here
It should then output a list of joint angles for each solution, and plot them in a separate window.
