Robot kinematics and control on the course's two-joint arm. Task space shows where the hand is. Configuration space maps every pair of joint angles (θ₁, θ₂) as one pixel. Follow the lesson on each tab, or just play.
Drag in the task pane to move the green target.
Iterative IK starts from the current pose and steps downhill on ‖p(q) − p*‖² using the damped Jacobian. It ignores obstacles, just like a bare solver.
Drag in the task pane to set the desired hand velocity ṗ* (green arrow).
Teleop: hold the pad or ←↑→↓ / WASD to drive the hand. Diff-IK converts each command into joint speeds.