using FABRIK2D arduino library for applying 4-DOF inverse kinematics in Robotic Arm made using servo motors.

https://github.com/henriksod/Fabrik2DArduino

Read the ReadMe of Fabrik2D.

The main code is in armCodesInvKin/servo/servo.ino Run it with Arduino. But don't forget to install Fabrik2D library beforehand. (if you don't know how search google - how to add a library in arduino) in serial monitor, you are supposed to provide "x,y,z,tool_angle" hit enter. It will show you angles and move the arm accordingly.

when we apply angles (90,90,90,90) they point straight up. When we apply angles we got for (100,100,0,-72)[x,y,z,tool_angle] which are (0,91,27,0) we reach somewhere close to (100,100,0)(x,y,z). The offset is because of setting the motors incorrectly and excessive load on the servo motors.

Ignore "GUI CONTROL FOR ARM". work in progress.