Analytical & Numerical Motion Planning
Inverse Kinematics (IK) & Trajectory Generation Studio
Interactive real-time analytical & numerical solvers for planar, SCARA, and 6-DOF decoupled spherical wrist manipulators. Features interactive target drag-and-drop, singularity analysis, manipulability metrics, and cubic/quintic minimum-jerk trajectory splines with MCU & ROS 2 code exporters.
🎯 Interactive Kinematic Workspace Canvas
Click and drag the glowing target marker to move the end-effector. Observes live joint angles and workspace boundaries.
Joint q₁ (Base/Shoulder)
42.5° (0.74 rad)
Joint q₂ (Elbow)
-65.2° (-1.14 rad)
Joint q₃ (Wrist 1)
22.7° (0.40 rad)
⚙️ Manipulator Kinematics Config
Configure arm link lengths, configuration branches, and target coordinates.
Target Coordinates (Meters & Radians):
Manipulator Link Lengths (m):
Analytical Branch Configuration:
FK End-Effector Verification:
📈 Multi-Joint Trajectory Generator & Dynamics Studio
Generate Cubic and Quintic (Minimum-Jerk) splines for smooth multi-axis robot motion with zero shock and boundary continuity.
Boundary Conditions: v₀ = vf = 0; a₀ = af = 0 (Quintic Jerk Elimination)
Samples: 301 @ 100 Hz
Position q(t) [deg]
q1 (cyan), q2 (emerald), q3 (purple)
Velocity q̇(t) [deg/s]
Max: 35.2 deg/s
Acceleration q̈(t) [deg/s²]
Max: 24.1 deg/s²
Jerk q⃛(t) [deg/s³] (Motor Wear / Vibration Metric)
Max: 18.5 deg/s³
t: 0.00 s
tf: 3.00 s
💾 Motion Plan & Waypoint Exporter
Export sampled trajectory waypoints to C++ arrays for embedded microcontrollers (ESP32 / Arduino / Teensy) and ROS 2 JointTrajectory messages.
Ready to include in Arduino IDE, PlatformIO, or ESP-IDF firmware: