Robotics Kinematics Simulator

Control a planar 2‑link arm and observe forward kinematics, reachable workspace, and simple inverse kinematics to hit targets.

Guide

Forward kinematics for a 2‑link arm with lengths L1 and L2: end‑effector position (x,y) is given by x=L1 cos θ1 + L2 cos(θ1+θ2), y=L1 sin θ1 + L2 sin(θ1+θ2).

Examples

• Straight reach: θ2≈0 aligns links for maximum reach.
• Folded: θ2≈180° brings end‑effector close to base.
• C‑shape: θ1 and θ2 opposite signs for curved paths.
• Workspace scan: Sweep both joints to visualize reachability.

FAQ

• Inverse kinematics? Solve θ1,θ2 from target (x,y); multiple solutions exist.
• Singularities? At full extension; small motions cause large joint changes.
• Redundancy? Not in 2‑link planar; higher DOF adds redundancy.
• Units? Degrees for UI; radians in equations.
• Limits? Joint limits restrict workspace.
• 3D? This demo is planar for clarity.
• Dynamics? Kinematics only; no torques or inertia.
• Control? Add PID to track trajectories.
• Calibration? Errors in lengths/angles shift end‑effector.
• Extensions? Obstacle avoidance, multi‑link arms.