Demo: https://www.instagram.com/p/CTeXCVBprB6/
IK solver for MeArm. MeArm servo default positions should be assembled as below for the angle values to match:
- Base: Straight forward @ 90
- Right: Straight up @ 90
- Left: Straight up @ 90
- Gripper: Open @ 90
Kinematics is solved thru simulation (Kangaroo), therefore some inaccuracies is to be expected. This shouldn't be an issue, since meArm isn't highly accurate to begin with.
Kinematics is solved thru trigonometry, and proper mechanical limit checks are implemented.
To use a custom sized meArm, CAD your own 2D skeleton by referencing this:
