About

An exercise in implementing a forward and inverse kinematics simulation in Javascript. Uses the Raphael SVG framework and Sylvester Matrix library.

Usage

This script can be demoed at kinematics.wylie.su. Alternatively, to run it locally, you may use Python's built in SimpleHTTPServer module like so:

python -m SimpleHTTPServer 8000

and visit localhost:8000

Forward kinematics:

Click on a joint, then use the left and right arrow keys to rotate.

Up and down arrow keys add/subtract joints.

Inverse kinematics:

Click and drag anywhere on the board to orient the joints. Implemented using clamped Jacobian transpose method.

License

All code is MIT licensed unless otherwise noted.