2-Link Robot Arm Kinematics Calculator
Forward and inverse kinematics for a planar two-link arm.
Mode
End-effector x
110.7
End-effector y
181.4
What is this tool?
A planar 2R arm places the end effector at x = L1 cos θ1 + L2 cos(θ1+θ2), y = L1 sin θ1 + L2 sin(θ1+θ2). Inverse kinematics generally has two solutions (elbow-up and elbow-down) when the target is reachable. This ignores joint limits, singularities handling beyond reach checks, and dynamics.
How to use it
- Enter link lengths.
- Use FK with joint angles, or IK with a target (x,y).
- Compare elbow-up vs elbow-down IK solutions when both exist.
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