Downloads:
Demo coming soon...
Introduction:
Defining a goal (and the problems that must be overcome to achieve it):
Goal:
Let's make a limb that operates on 2D IK to try and reach a target position which we can move around.
This limb will be structured roughly like a mantis's mandible, with the following rules:
Problems:
Solving the problem(s):
There are a number of popular approaches to achieving IK:
Torque = R*F

Dot product formula (And variations) cos(angle) = (v1.v2)/(v1*v2) angle = acos( (v1.v2)/(v1*v2) )

1) How to move the links (and thus the limb) to achieve IK? Solution

2) How to constrain the rotation of links, such that the limb moves smoothly (without jerking or snapping)? Solution (Coming Soon...) 
3) How to constrain the rotation of links, such that it only uses one configuration for reaching or trying to reach the targetposition? Solution (Coming Soon...) 