🦾 Robot Arm: Inverse Kinematics Pick & Place
A 4-joint robotic manipulator solves inverse kinematics live with a real cyclic-coordinate-descent (CCD) iterative solver. Drag the target handle to drive the gripper by hand, or launch the automated pick-and-place sequence and watch it plan a waypoint path — detouring around an obstacle when one is in the way — to grasp the block and place it on the target pad.
Drag the yellow target handle across the tabletop plane · Drag empty space to orbit · Scroll to zoom
How the CCD solver works
Every frame, for the requested number of iterations, the solver walks the joint chain backward — wrist, elbow, shoulder, base — and at each joint rotates it by the exact signed angle that swings the current end-effector-to-target vector onto the target direction, measured about that joint's own rotation axis. Because each rotation immediately changes where every joint downstream of it sits, the chain is re-propagated after every single joint update. Repeated a handful of times per frame, the end-effector error collapses toward zero — this is Cyclic Coordinate Descent.