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

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

• 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

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

• 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

make run