Module n_joint_arm_control 

Generalized N-joint planar arm inverse kinematics and control.

Uses the Jacobian pseudo-inverse method to solve inverse kinematics for a planar arm with an arbitrary number of revolute joints.

Reference: PythonRobotics ArmNavigation/n_joint_arm_to_point_control

Structs

NLinkArm

A planar N-link arm with forward and inverse kinematics.

Functions

angle_mod

Normalizes an angle to the range [-pi, pi].

distance_to_goal

Computes the distance and error vector from current position to goal.

forward_kinematics

Computes the forward kinematics for given link lengths and joint angles.

inverse_kinematics

Solves inverse kinematics using the Jacobian pseudo-inverse method.

inverse_kinematics_with_params

Solves inverse kinematics with configurable iteration limit and threshold.

move_to_goal

Runs the proportional-control IK loop: smoothly moves from current angles toward goal angles.