While professional robotics often use the Jacobian Inverse or Cyclic Coordinate Descent (CCD) , these methods are either too "heavy" for an Arduino or produce jerky, unnatural movements.

Today, we are exploring NocKinematics , a lightweight C++ library that brings the industry-standard FABRIK algorithm to the world of microcontrollers.

🔬 The Science: Why FABRIK?

NocKinematics is built upon the foundational research of Andreas Aristidou and Joan Lasenby . If you are looking for the academic rigor behind this library, you should refer to the original paper:

> Aristidou, A., & Lasenby, J. (2011).…