After a long journey about the Mathematics of Forward Kinematics and the geometrical details of gradient descent, we are ready to finally show a working implementation for the problem of inverse kinematics. This tutorial will show how it can be applied to a robotic arm, like the one in the image below.

The other post in this series can be found here:

- Part 1. An Introduction to Procedural Animations
- Part 2. The Mathematics of Forward Kinematics
- Part 3. Implementing Forward Kinematics
- Part 4. An Introduction to Gradient Descent
- Part 5.
**Inverse Kinematics for Robotic Arms** - Part 6. Inverse Kinematics for Tentacles
- Part 7. Inverse Kinematics for Spider Legs 🚧 (work in progress!)

At the end of this post you can find a link to download all the assets and scenes necessary to replicate this tutorial. Continue reading