Home▸Robotics & Kinematics▸Six-Axis Robot Arm: Jacobian Damped-Least-Squares IK, Singularity Walk and Ghost Trajectory Lab

🦾 Six-Axis Robot Arm: Jacobian Damped-Least-Squares IK, Singularity Walk and Ghost Trajectory Lab

A six-joint industrial arm with exact forward kinematics, a geometric Jacobian and damped-least-squares inverse kinematics: drag a target, compare joint-space and straight-line Cartesian moves with ghost snapshots, and watch manipulability collapse and joint speeds blow up near a singularity.

Robotics & Kinematics3DAdvanced60 FPS📱 Mobile-adapted🟠 Blender

⚙ Under the hood

Robot ArmInverse KinematicsJacobianSingularityTrajectory PlanningThree.jsBlender

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