Name: Robot Arm Kinematics Web Simulator
Author: Zaw Hlaing Htet

Mode

FK 2D DH IK 2D IK 3D

Links

2 Links 3 Links 4 Links 5 Links

Link Lengths

L1 L2 L3 L4 L5

Target

X Y

Elbow down Elbow up

3–5 link IK uses CCD solving.

Joint Angles

theta 1

theta 2

theta 3

theta 4

theta 5

Presets

End X0.0

End Y0.0

Error0.0

Reach0-0

SingularityStable

Joint Output

Jacobian Condition

Stable

σ_min 0.000 Condition ∞

Position Jacobian is well-conditioned.

Solver

Analytic inverse kinematics