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IK Singularity: Naive vs Damped Solver

Two identical robot arms track the same commanded path toward full-reach extension: the naive Jacobian-inverse solver spikes joint velocities to dangerous levels near the kinematic singularity, while the damped least-squares solver stays smooth and bounded at the cost of a small tracking lag.

Robotics & Kinematics3DAdvanced60 FPS

Two identical 2-joint arms track the same Cartesian path toward full extension. The left arm resolves joint velocity with a plain Jacobian pseudo-inverse; the right arm uses a damped least-squares ("singularity-robust") inverse. Watch the joint-velocity gauges and the manipulability readout as both arms approach the singular, fully-stretched configuration.

⚙ Under the hood

Two identical 2-joint robot arms track the same commanded path toward full extension: the naive Jacobian-inverse IK solver spikes joint velocities to dangerous levels near the kinematic singularity, while a damped least-squares solver stays smooth and bounded at the cost of a small tracking lag. Live gauges show per-joint velocity, manipulability (distance to singularity) and tracking error.

Three.jsRoboticsInverse KinematicsJacobianSingularityDamped Least Squares

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install