Position control of robot endeffector

In robot motion design, considering each joint separately is tedious and hard. It’s mainly because the position of each joint in the space depends on other several joints or all joints of the robot. One solution is only considering control the endeffector(interested point) of the robot and then using inverse kinematics to get the trajectory of all the other joints.

In this project, our goal is to make the endeffector of the robot move to a specific position. Gradient descent optimization and cyclic coordinate descent inverse kinematics algorithm is implemented to make the endeffector get close to the goal point iteratively.