Design an inverse kinematic controller to move end-effector. This work is done as a coursework for the 2nd semester of MAIA in Introduction to Robotics course.

The task was to design an Inverse Kinematic controller to move the end-effector from the position pA to the position pB The movement should be repeated 3 times by control:

• the position-only without exploiting the redundancy
• the position and the orientation without exploiting the redundancy (desired orientation equal to the initial one)
• the position and the orientation avoiding an obstacle put in p0 (desired orientation equal to the initial one)