I’ve written this as a very basic introduction to inverse kinematics using a planar manipulator. A lot of people seem to prefer direct inverse kinematics, but as a reminder, these don’t work for redundant manipulators! This Jupyter Notebook covers iterative inverse kinematics via jacobian pseudoinversion and discusses it’s effectiveness. Click the link below to see a static view of the notebook.
Check out the static notebook here.
Download the notebook here. I would recommend using curl on the raw text.
This is my first time sharing something like this, so I would appreciate any feedback in the comments!