// multi-utility computation suite · offline · instant · precise
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sci.inverse-kinematics-2DOF-arm Calculator
Calculates joint angles θ₁ and θ₂ for a 2-DOF planar robot arm given end-effector position (x,y) using the geometric inverse kinematics solution. Two solutions (elbow-up and elbow-down) exist for reachable positions — the workspace boundary is an annulus between (L₁−L₂) and (L₁+L₂) radius.
Inputs
L1 M
Linear measurement. Ensure consistent units: 1 m = 1,000 mm = 3.281 ft.
L2 M
Linear measurement. Ensure consistent units: 1 m = 1,000 mm = 3.281 ft.
X M
Reference formula or conversion factor shown for context.
Y M
Reference formula or conversion factor shown for context.
Results
joint angle θ1 (°)
The computed angle in degrees or radians.
joint angle θ2 (°)
The computed angle in degrees or radians.
distance to target (m)
The computed distance or separation.
maximum reach (m)
The largest value in the dataset or feasible range.