how about the pose of A,B,C?

[yanzixiang]

A robot needs the position of X,Y,Z and the pose of A,B,C to define the final angles, But you just reach the position without caring about the pose. Can you help to do the rest of work ?

[Gabryxx7]

Hi, that was the point of the project. A simple, gradient descent based way to reach a point by setting certain constraints on the joints and nothing else. There is a lot of research in the robotics field on inverse kinematics. If you want to use this project, you might want to set different constraints on the joints. Furthermore (from what I can remember) the algorithm starts from the current pose and from there it changes the angles to reach the point, so the new pose will be similar to the previous one.