FROM HAND POSITION TO JOINT ANGLES

Let the arm find the target.

Drag the crosshair, or enter X and Y. Watch two joint angles solve one position.

Interactive two-link arm A shoulder and elbow reach for a target in a circular workspace. Use the labeled target inputs to change it with a keyboard. XY L₁ = 1.0 · L₂ = 0.8 · arbitrary length units
ArmRequested targetPosition error

Higher damping steadies the update near a straight arm; it can also slow convergence.

Shoulder θ₁
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Elbow θ₂
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Position error
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Iterations
0

Ready

Try a tricky target