anyone who knows how to control a 6-7DOF robot arm like the following by Reverse Kinematics?
Just define the spatial coordinates to move the gripper to, and the lib is supposed to calculate either required servo angle?
And the same (easier task) vice versa for Forward Kinematics?
I still can't find a working lib for that purpose... 
\ /
\ / finger length 50 mm
|-| 6 claw spread
| metacarpal length 55 mm
|
o 5 metacarpal rotate
|
| wrist length 95 mm
|
v 4 wrist tilt
|
| forearm segment2 50 mm
|
o 3 forearm rotate
|
| forearm segment1 100 mm
|
v 2 elbow tilt
|
|
| upper arm length 180 mm
|
|
v 1 shoulder tilt
|
| shoulder height 15 mm
o 0 trunc rotate horiz
|
| trunc base 85 mm
|
___ floor