Forward and inverse kinematics simulation in Javascript
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Wylie Wylie
Latest commit d2b46cb Aug 14, 2018


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


This script can be demoed at 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.


All code is MIT licensed unless otherwise noted.