🦾
ArmLab
planar inverse kinematics · drag the target
θ₁
—
θ₂
—
θ₃
—
tgt
—
Arm
2-link
3-link
Link lengths
L₁ (shoulder)
1.20
m
L₂ (elbow)
1.00
m
L₃ (wrist)
0.45
m
Configuration
Elbow up
End-effector φ
0
°
Joint limits
J₁ range
±
170
°
J₂ range
±
150
°
J₃ range
±
150
°
Overlays
Workspace envelope
Joint limit arcs
Motion trail
Grid
Waypoints
Speed
1.0
m/s
Loop
Play
Pause
Clear
Right-click canvas to add a waypoint.
Presets
Equal links
Long reach
Stubby
SCARA-ish
unreachable
drag
target
·
right-click
waypoint ·
space
play/pause