Assignment 4 : Inverse Kinematics
Alan Yao and Rohan Chitnis
Extra credit features: Different arms, joint limits, multiple arms.
Basic demonstration on a circle. Segment lengths vary from .4 to .1; 4 segments; immobile base.
Demonstrates being able to attempt to solve for out-of-reach goal states.
A different arm, this time with 7 small links.
The root joint is bounded in motion to a single quadrant; tries "best guess" solution to unreachable points due to joint limits.
Acid spider mode. Demonstrates multiple arms.
./as4 multiple.in -a -r -m 12