2-link planar robot (R-R) in XY plane. Standard DH with
α₁ = α₂ = 0, d₁ = d₂ = 0.
Current joint angles (shared with FK/IK tabs):
Denavit–Hartenberg table (standard DH):
| Link i | aᵢ [m] | αᵢ [rad] | dᵢ [m] | θᵢ [deg] |
|---|---|---|---|---|
| 1 | 1.0 | 0 | 0 | 30 |
| 2 | 0.7 | 0 | 0 | 30 |
This DH table feeds into the FK tab, which computes the end-effector pose using these parameters.
Use sliders to choose joint angles θ₁ and θ₂. The arm and end-effector pose update immediately.
End-effector homogeneous transform T₀₂:
Choose a target point (x, y) in the plane. The solver computes θ₁, θ₂ (elbow-up / elbow-down), if the point lies inside the reachable workspace.