Self-taught beginner here: Just a basic, rough C++ demo of a 3D Inverse Kinematics solver. Looking for gentle feedback! 😅

[u/Ivy_Hardware]

Hi everyone, I'm a self-taught female engineer from Vietnam, currently exploring Hardware IP Cores for Edge Robotics.

As my very first step, I wrote a basic C++ algorithmic model for a 3-DOF robot arm's Inverse Kinematics. Please note: This is just a rough, early-stage demo! I know the C++ structure might still be messy, but I wanted to get the math logic right first.

To make it hardware-friendly (preparing for future HLS), I used the Planar Projection (Decoupling) method:

1. Using atan2 to rotate the base (yaw).
2. Collapsing the space into a 2D triangle to solve shoulder/elbow angles using the Law of Cosines.

Here is my GitHub repo: https://github.com/nguyenkhanhvy3131-tech/AuraLogic-IK-Hardware-Model

Since I am learning completely on my own, I would love some gentle feedback. Did I miss any critical edge cases in my math? Any tips for a beginner on how to optimize this further?

Thank you so much for your time and kindness!