The inverse kinematic solution code of so-100

[gxy-TJU]

Are there any code of inverse kinematic of so-100, which just need the input of the x, y on my desk, then it can move to the target
coordinate？
Thanks for any response.

[helper2424]

We were discussing it, but I think that nobody started developing it. It should be pretty - just like 2/3 lines of code.

The only important note is that during the building leader arm for SO-100 we remove on gear, so the instruction should adapted to have inverse kinematics.