This is a simple inverse kinematics solver for a linked robot,
for my CS184 final project.

Webpage: 
  http://inst.eecs.berkeley.edu/~cs184-cv/finalproj, or in the web folder
Final Report: 
  http://inst.eecs.berkeley.edu/~cs184-cv/finalproj/final-report.pdf, or in the reports folder
Tech Report (part of final report): 
  http://inst.eecs.berkeley.edu/~cs184-cv/finalproj/ik-tech-report.pdf, or in the reports folder