Alan Zucconi

After a long journey about the Mathematics of Forward Kinematics and the geometrical details of gradient descent, we are ready to finally show a working implementation for the problem of inverse kinematics. This tutorial will show how it can be applied to a robotic arm, like the one in the image bel

This tutorial starts our journey into the world of inverse kinematics. There are countless ways to approach this problem, but they all starts with forward kinematics. Inverse kinematics takes a point in space, and tells you how to move your arm to reach it. Forward kinematics solves the opposite, du