I am using InMoov arms with our already available robotics head. We are using yarp and c#. For the InMoov arm we don't use arduino,... till now I have a working arm and I manually send angles for motors (using sliders and my gui) and the arm moves. Now I need to develop the kinematics and Inverse kinematics algorithm for the arm. I mean the box that receives as input endeffector position (or motor angles in Kinematics) and as output the required angle of each motor (end-effector position in Kinematics).
I know that Kinematics and Inverse Kinematics are already developed for InMoov, but is there any way that I can access their source code or mathematics withhout using MRL? I mean I don't want to use the already available kinematic on MRL, I need only the kinematic part to be developed in my platform.
Please help me if there is a source code or .... for InMoove Kinematics, Inverse Kinematics, Dynamics,....