Inverse Kinematics GitHub Repositories (2026) · Open Source Tools

A high-performance, general-purpose toolkit for versatile robotic tasks.

A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques

Inverse Kinematics package for Unity, featuring multiple solvers, joint limits and procedural animation samples.

The R2D3 Robotics simulation project. R2D3 is a Free, Cross Platform, Generic Robotic Manipulator Simulator and Development Environment built using Blender and Python. It's main goal is to provide a simple but feature-rich platform for Educational & Research Usage. Much of it is currently Scorbot ER-V (From Intelitek) oriented though that situation will change in the near future.

DART: Dynamic Animation and Robotics Toolkit