C# Dynamic IK (Inverse Kinematics) Library -- 2

As a roboticist with a specific robotic system in mind, I am seeking a simple C# dynamic Inverse Kinematics (IK) solver class. The class will use Cyclic Coordinate Descent to return the joint angles that position the end effector at the target position in 3D cartesian space. The input for the solver method will accept the joint parameters in a chain (length in MM, angle in degrees, rotation axis) as a parameter. The count of joints in the chain will be dynamic. Here is an example of a Joint definition. public class Joint { public enum JointRotationAxisEnum { X, Y, Z } // The axis that this joint can rotate public JointRotationAxisEnum JointRotationAxis { get; set; } // The length of this joint to the next (or end effector if it's the last joint in the chain) public float LengthMM { get; set; } // The current angle of this joint public float AngleDegrees { get; set; } // The min angle this joint can rotate public float MinAngle { get; set; } // The max angle this joint can rotate public float MaxAngle { get; set; } } For example, a generic 3 DOF robot arm may have this joint definition. var joints = new List<Joint>(); // The first joint is a rotation that rotates the arm clockwise, counter clockwise [login to view URL](new Joint() { LengthMM = 0, AngleDegrees = 0, JointRotationAxis = Joint.JointRotationAxisEnum.Z, MinAngle = 1, MaxAngle = 180 }); // The second joint is the first Y axis joint that raises and lowers the robot arm [login to view URL](new Joint() { LengthMM = 50, AngleDegrees = 0, JointRotationAxis = Joint.JointRotationAxisEnum.Y, MinAngle = 1, MaxAngle = 180 }); // The third joint is a the second Y axis joint that is like an elbow of the arm, also raising and loweirng [login to view URL](new Joint() { LengthMM = 50, AngleDegrees = 0, JointRotationAxis = Joint.JointRotationAxisEnum.Y, MinAngle = 1, MaxAngle = 180 }); The library you will create will have a public SolveIK() method that accepts the list of Joints and the target 3D cartesian coordinate of the end effector as parameters. IE... var target = new Vector3(5, 0, 10); bool success = [login to view URL](joints, target); The response of [login to view URL]() will be whether or not the end effector target position was successfully achieved.