I am working on an implementation of inverse kinematics using the jacobian transpose method. The implementation seems to be working as it does find the "theta" vector, although sometimes it might take an insane amount of steps to do so, which makes me believe that it is not correctly implemented.
So after reading a bit on it, it appears as if each step is guaranteed to be closer to the end effector than the previous step. Is this a correct assumption?
In my implementation it is not always closer for every step, so it might be a decent indication that there is something wrong