Delta Robot Inverse Kinematics (2D)

This 2D companion to the 3D delta-robot pick-and-place simulator solves the identical per-arm inverse-kinematics equation — a circle-circle intersection in each arm's own radial/vertical plane — but draws it directly instead of hiding it inside a 3D scene: a top-down view of the fixed base and target, plus a flat cross-section for each of the three arms showing the bicep and forearm reach circles meeting at the solved elbow angle. Drag the target sliders or run the pick-and-place demo and watch all three θᵢ, the picks-per-minute counter, and the reach-circle geometry update together in real time.