2D Robot Skeleton Lab

This visualisation uses AI Generated code, finetuned for the best visualisation, not code quality

robot_skeleton.mov

Interactive Raylib lab for articulated 2D robot motion, forward kinematics, inverse kinematics, manipulability, and error geometry across seven linked pages.

What This Visualisation Shows

• How a joint chain produces end-effector motion
• How inverse-kinematics updates move the arm toward a target
• How Jacobians, damping, and manipulability shape the solver behaviour
• Several analysis pages for motion equations, sensitivity, and error structure

Visual Map

flowchart LR
    A["Joint Angles"]
    B["Forward Kinematics"]
    C["End-Effector Error"]
    D["Jacobian-Based IK Solve"]
    E["Joint Update"]
    F["New Pose"]

    A --> B
    B --> C
    C --> D
    D --> E
    E --> F

Loading

Controls

• q: quit
• 1 to 7: switch pages
• space: toggle auto target motion
• i: toggle IK
• r: random pose
• Mouse and wheel interactions drive target placement and joint manipulation

Run

make run