Config
Target
Results
Matrices
Robot Info
D-H Parameters
| Joint | Type | a (mm) | α (°) | d (mm) | θ (°) |
|---|
Joint Limits
Joint Angles (Interactive)
Planar 3R Research Mode
Task: Full planar pose (x, y, φ)
Robot: 3 revolute joints, α = 0°, constant Z plane
Analytical IK: Wrist-point reduction to a 2R subproblem
Numerical IK: 3×3 damped least-squares Jacobian
Robot: 3 revolute joints, α = 0°, constant Z plane
Analytical IK: Wrist-point reduction to a 2R subproblem
Numerical IK: 3×3 damped least-squares Jacobian
Target Position (mm)
Target Orientation
For Planar 3R research, φ = yaw = θ₁ + θ₂ + θ₃. Roll and pitch remain zero.
IK Solver Settings
Workspace / Reachability Check
Run FK or IK to check the target.
📊 Planar 3R — 1000-Test Research Benchmark
The same reachable target poses are supplied to the analytical and numerical solvers. Metrics include success rate, position error, orientation error, computation time, iterations and joint-limit compliance.
No benchmark executed yet.
📈 Research Benchmark Dashboard
Run the benchmark to generate research statistics.
⚖ Analytical 3R IK vs DLS Jacobian IK
Both methods use exactly the same 3R benchmark target poses. Numerical IK starts from a fixed initial configuration and uses a damped least-squares update.
Run the benchmark first.
🔎 DLS Failure Analysis & Successful-Case Accuracy
Classifies unsuccessful DLS cases using the final joint state and normalized full-pose Jacobian conditioning. Successful-only accuracy is reported separately so failed residuals do not dominate numerical accuracy statistics.
Run the 3R comparison to generate failure analysis.
🧪 3R Jacobian Sensitivity Study
Sensitivity is evaluated using the same benchmark target poses while varying initial joint configuration and damping factor.
Run the benchmark first.
No results yet. Run FK or IK first.
Run FK to see transformation matrices.
Steps
Jacobian
Compare
Step-by-step IK verification will appear here after solving.
Jacobian matrix will appear here after solving.
Click "Compare" in the top bar to compare robot types.