This controller code is built around a geometric inverse‑kinematics model that determines how each joint of the robot’s leg must move to place the foot at a specific point in 3D space. Instead of relying on complex matrix‑based kinematics, the system uses straightforward geometric and trigonometric relationships to compute the three required joint angles for every leg. By breaking the problem into simple 2D planes and applying triangle geometry, the controller can translate any target coordinate into smooth, accurate servo movements. This approach keeps the logic transparent, easy to understand, and highly adaptable to different robot sizes or configurations, making it ideal for experimentation, customization, and embedded implementation.