commanded target
(0.800, 0.600)
r = distance from shoulder
1.0000 m
reachable ring
0.300 … 1.500 m
cos φ before clamping
+0.15741
status
in reach
φ (interior elbow angle)
80.94°
active branch
elbow-up
θ1 shoulder
+73.21°
θ2 elbow
−99.06°
other branch (θ1, θ2)
+0.53°, +99.06°
forward-kinematics tip
(0.800, 0.600)
shortfall vs command
0.000 m