Robot Arm Kinematics

Forward (FK) and Inverse (IK) Kinematics for a 3-DOF planar manipulator.

Link 1 (Base) 150 mm

Link 2 (Mid) 120 mm

Link 3 (End) 80 mm

Joint 1 (θ1) 45°

Joint 2 (θ2) -30°

Joint 3 (θ3) -45°

X:291.3 mm

Y:97.1 mm