Inverse Kinematics

This video demonstrates an inverse kinematic solver of a ball chain.
The Jacobian pseudoinverse method was used. To ensure the solver
was robust to out-of-reach goals, the damped least squares was used as
described in this[1] paper. The solver also checked when it was close
to singularity to control the damping factors and angles.

0:06 – passing through origin
0:08 – randomly choosing reachable targets
0:20 – clicking custom target
0:36 – following circular paths of varying size
0:53 – Showing robustness to out-of-reach goals

1. Samuel Buss (2009) Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods