Three DOF Robot (Kinematic Redundancy)

This tool visualizes a 3-DOF planar robot and its reachable workspace. You can adjust the joint angles and link lengths to see how the robot's configuration changes in both task space and configuration space.

Remember that the nullspace solution of a kinematic redundancy is not guarantee to be continuous. Therefore, the nullspace motion may not be smooth or predictable. You may see a jump in solution while the plot line is continuous. This is because of the line plot rendering, which connects the points with a straight line.

Use the controls below to explore the robot.

2D Taskspace

The shaded annulus is the reachable position workspace.

3D Configuration Space

Each curve is one position-only IK branch.

Joint limits and configuration

q1: 0.00 rad

[-pi, pi]

q2: 0.00 rad

[-pi, pi]

q3: 0.00 rad

[-pi, pi]

IK branch:

Nullspace position: 0.50

[0, 1]

Moving a joint shows that configuration and updates the taskspace marker.

Link lengths

l1: 1.00

[0.2, 2.0]

l2: 1.00

[0.2, 2.0]

l3: 1.00

[0.2, 2.0]

Changing links length will effect the reachable workspace.

Version: 1.0.0