Interactive Robot Arm Teleoperation & Closed-Loop Control Simulator

Robot Task-Space Teleoperation Canvas

Click / Drag Canvas to Set Target Target (X, Y)

End-Effector Desired: (0.35m, 0.20m)

End-Effector Actual: (0.35m, 0.20m)

Tracking Error: 0.00 mm

Joint Angles (q1, q2, q3): 28.6°, 57.3°, --

📈 Real-Time Control Telemetry Desired (Dashed) vs Measured Actual Joint Positions & Tracking Error

✓ Teleoperation Session Operational

Arm Configuration: 2-DOF Kinematics | Latency Buffer: 120 ms | Status: Stabilized Tracking

1. Arm Kinematics & Mode

2. Target Trajectories

3. Joint PID Feedback Gains

Proportional Gain (Kp) 8.5

Integral Gain (Ki) 0.05

Derivative Gain (Kd) 1.20

4. Latency & Sensor Noise

Web Teleoperation Delay 120 ms

Gaussian Sensor Noise 0.02 rad

5. Joint Actuator Saturation

Max Actuator Torque Limit 15 N·m

Joint 1 Torque 0.0 N·m

Joint 2 Torque 0.0 N·m

Joint 3 Torque 0.0 N·m

6. Telemetry Data Export