Robot Arm IK Solver Comparison

3-DOF planar robot arm. Click anywhere to set target. Compare Jacobian Transpose, CCD, and FABRIK solving simultaneously.

Jacobian Transpose CCD FABRIK Target

Jacobian Transpose

CCD (Cyclic Coordinate Descent)

FABRIK

Convergence Speed (error vs iterations)

Jacobian iters: 0
Jacobian err: 0
CCD iters: 0
CCD err: 0
FABRIK iters: 0
FABRIK err: 0
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