This is a University coursework were I had to implement IK in Matlab.
Code is available on request given that this is a University coursework.
Videos of the implementation:
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Cyclic Coordinate Descent no constraints, with ease-in/ease-out (sine interpolation)
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Cyclic Coordinate Descent using hard constraints, with linear interpolation
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Damped least squares with ease-in/ease-out (sine interpolation)
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Moore-Penrose inverse with linear interpolation (added control)
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Damped least squares with alternate Jacobian with slow-out interpolation