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Robotics

2-link arm kinematics

Drive a planar arm with joint sliders, then drag the target and watch inverse kinematics solve it.

About 20 min

Planar 2-link arm

Link 1 is 120 px and link 2 is 90 px, so the hand reaches anywhere from 30 to 210 px from the base.

Two-link arm with its reachable workspacereach 210 px
θ1
60.0°
θ2
-70.0°
Hand (x, y)
149, 88 px
Target distance
173 px
Reachable: IK found a solution.

Drag anywhere in the workspace, or focus the target and use the arrow keys (Shift for bigger steps), to run inverse kinematics. The sliders run forward kinematics.