2D Robot Arm Kinematics Explorer

L₁ = 3 units  ·  L₂ = 2 units  ·  Planar 2-DOF

Joint Angles → Position
θ₁ — Link 1 30°
θ₂ — Link 2 45°
End-Effector Position
X
3.12
Y
3.43
Elbow X
2.60
Elbow Y
1.50
Target Position → Joint Angles

Click on the canvas to set a target, or type coordinates below.

Formula Reference
FK → Given (θ₁, θ₂), find (x, y)
x = L₁·cos(θ₁) + L₂·cos(θ₁+θ₂)
y = L₁·sin(θ₁) + L₂·sin(θ₁+θ₂)
Link 1
Link 2
End-effector
Joint