Basic Arm Kinematics
Robotics · Self-Study Course
Forward Kinematics — 2R Planar Arm
Adjust the joint angles θ₁ and θ₂ in real time. The simulator solves the planar 2-link arm’s end-effector position and orientation.
θ₁ (shoulder) 0°
θ₂ (elbow) 0°
Link L₁ 1.0
Link L₂ 0.8
End-effector (x, y): —
Inverse Kinematics — Analytical Solver
Set a target end-effector position (x, y). The solver computes the joint angles θ₁, θ₂ (elbow-up & elbow-down).
Target X 1.0
Target Y 1.0
L₁
L₂
IK: —
Denavit–Hartenberg Transform Builder
Enter the four DH parameters (a, α, d, θ) for a single joint to compute its homogeneous transformation matrix.
a (link length)
α (twist) deg
d (offset)
θ (angle) deg
Workspace Visualizer — 2R Arm Reach
The reachable workspace of a 2R planar arm is an annular region bounded by inner radius |L₁−L₂| and outer radius L₁+L₂.
L₁ 1.0
L₂ 0.8
Reach: —