Developed a Python application to simulate robotic arm forward kinematics and inverse kinematics for arbitrary arm configurations.
Linear algebra calculations for end-effector position are handled using NumPy, with real-time visualisation powered by PyGame. Reduced testing time by 91% by simplifying linear transformations.
Forward & Inverse Kinematics
Utilized NumPy to handle matrix multiplication for Forward and Inverse kinematics of a Robotic Arm and calculating end effector position.
PyGame Visualization
Leveraged PyGame to fully visualize robot end effector and joint positions, and allowing the user to input different input angles while simultaneously showing output positions.
Forward and Inverse Kinematics ended up having multiple valid solutions, so it was difficult to pick the shortest path. A lot of math went into trying to pick the optimal (and realistic!) distance
Keeping the PyGame rendering in sync with the simulation state at variable frame rates without the visual lagging behind the computed positions