closed-chain-ik-js
- Software
- Robot arms and industry
- Library
A JavaScript inverse kinematics solver that handles closed kinematic chains, such as parallel mechanisms, using damped least squares. It is independent of any visualization framework.
Source on GitHub: github.com/gkjohnson/closed-chain-ik-js (opens in a new tab). Facts read at commit 3e01f7b (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 3e01f7b (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Solves inverse kinematics for closed chains, including parallel kinematics systems and dynamic reconfiguration.
- Supports joints with any combination of rotation and translation degrees of freedom.
- Core entry point has no three.js dependency; three.js and urdf-loader helpers are provided separately.
- Includes a web worker solver, though it relies on SharedArrayBuffers, which some platforms lack.
- Optional SVD mode adds damping near singular directions but is several times slower than the default solve.
Written by Robotheca from the project's README (opens in a new tab) at commit 3e01f7b.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 22 Oct 2026 on main
- Latest release
- v0.0.7 (17 Sept 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.