The ILDA finger model is a sophisticated anthropomorphic robotic finger design that mimics human finger kinematics through integrated linkage mechanisms. This project provides comprehensive kinematic ...

Forward Kinematics: Input joint angles → get positions & plot arm. Inverse Kinematics: Input target (x,y) → compute angles & plot arm. Interactive menu loop (no need to restart program each time).

Abstract: Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy.