Control toggles ♦  'Shift': Restrict to X axis  |  'Ctrl': Animated motion  |  'Alt': Thresholded turn speed (works only with 'Ctrl')
Sticky 'Shift'  Sticky 'Ctrl'  Sticky 'Alt' 
Base length: ()
 
Info:
 
 Preset arms: (start here!)
Lengths:
(one in each line)
Generate Random Arm:
Num. of segments:
Turn On Draw-Path Mode
Status:
Status    Warning    Error         
Recomemded browser: Google Chrome v27 or higher.
Implementation of "A Continuous Inverse Kinematics Problem for a Planar Robot Arm" by Subhrajit Bhattacharya and Mihail Pivtoraiko
(c) Copyright 2013 Subhrajit Bhattacharya. All rights reserved.
Related paper: Subhrajit Bhattacharya and Mihail Pivtoraiko, "A Classification of Configuration Spaces of Planar Robot Arms for a Continuous Inverse Kinematics Problem", Acta Applicandae Mathematicae, 139(1):133-166, Springer, October, 2015. DOI: s10440-014-9973-1.
Copyright (C) 2016 Subhrajit Bhattacharya. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
Contact: subhrajit@gmail.com, https://www.lehigh.edu/~sub216/, http://subhrajit.net/.