Two DOF Robot (Torus Cspace)

This tool visualizes a 2-DOF planar robot, its reachable workspace, and the two inverse-kinematics branches for a Cartesian target.

Use the controls below to explore the robot.

The shaded disk is the reachable position workspace.

The two points are the elbow-up and elbow-down IK solutions for the current target.

q1: 0.00 rad

[-pi, pi]

q2: 0.00 rad

[-pi, pi]

IK branch:

Moving a joint changes the Cartesian target and updates both IK branch points.

l1: 1.00

[0.2, 2.0]

l2: 1.00

[0.2, 2.0]

Changing link lengths clips the target to the reachable workspace.

Version: 1.0.0