3D Inverse Kinematics — Robot Arm

This simulator shows a three-link articulated robot arm reaching for a moving target using inverse kinematics: instead of you setting each joint angle, a Cyclic Coordinate Descent (CCD) solver works backward from the desired hand position to figure out what the shoulder, elbow and wrist angles must be. Watch the arm continuously re-solve its posture as the target orbits in 3D space, and see how solver iterations, target speed and target radius change how tightly — and how gracefully — the arm tracks. Orbit the camera to inspect the pose from any angle.