What method of IK is used here? DH method or something?

Thank you.

When using the trigonometric solution, was the DH parameter table used to unify and simplify the relative pose relationships between the joints and links of the robotic arm, serving as an auxiliary tool? Or was it purely a trigonometric solution without the DH parameter table?

I'm using version 2021.05, and I'd like to achieve real-time IK motion for the robotic arm by directly dragging the TCP in play mode, just like in edit mode, where dragging the TCP instantly moves the entire robotic arm via IK. I don't want to drag the TCP to a position and then click "Drive to Target" to initiate the movement.

Can I understand it as using a geometric solution, specifically applying trigonometric methods to calculate and handle the relationships between joints and determine the joint angles?

Could you share the source code of the IKCalculator.dll file?