Control toggles ♦  'Shift': Restrict to X axis  |  'Ctrl': Animated motion  |  'Alt': Thresholded turn speed (works only with 'Ctrl')
Sticky 'Shift'  Sticky 'Ctrl'  Sticky 'Alt' 
Base length: ()
Preset arms: (start here!)
(one in each line)
Generate Random Arm:
Num. of segments:
Turn On Draw-Path Mode
Status    Warning    Error         
Recomemded browser: Google Chrome v27 or higher.
Implementation of "A Continuous Inverse Kinematics Problem for a Planar Robot Arm" by Subhrajit Bhattacharya and Mihail Pivtoraiko
(c) Copyright 2013 Subhrajit Bhattacharya. All rights reserved.