IK·SOLVER

Robotics Kinematics & Actuation Workbench

Preset: Humanoid Biped Leg

DOF: 3-Link Planar

Singularity: Safe (0.92)

Click & Drag Target Circle (Amber) or Link Joints

Joint Telemetry (FK / IK)

Hip (θ1)

18.5°

Knee (θ2)

-34.2°

Ankle (θ3)

15.7°

End-Effector X

340px

End-Effector Y

420px

Reachability

88.2%

Static Torque Load (τ = J^T · F) Load: 4.5 kg

Joint 1 (Hip) 54.8 Nm / 120 Nm

Joint 2 (Knee) 38.2 Nm / 90 Nm

Joint 3 (Ankle) 12.4 Nm / 50 Nm

Link & Payload Parameters

End-Effector Payload Mass 4.5 kg

Link 1 Length 120 mm

Link 2 Length 110 mm

Link 3 Length 60 mm

Trajectory Sequencer 3 Waypoints

Telemetry Export

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