3-Link 3D Arm Inverse Kinematics (CCD)
This interactive simulator explores 3-Link 3D Arm Inverse Kinematics (CCD) in Engineering. Continuation of two-link-arm-ik into 3D: 3 revolute joints (yaw + 2 pitches) solved with constrained Cyclic Coordinate Descent. Drag target in 3D or follow a helix / lemniscate / figure-8 trajectory. Use the controls to change the scenario; watch the visualization and any graphs or readouts to connect the model with lectures, labs, and homework.
Who it's for: For learners comfortable with heavier math or second-level detail. Typical context: Engineering.
Key terms
- link
- arm
- inverse
- kinematics
- ccd
- arm 3link ik 3d
- engineering
How it works
**3-link 3D robot arm** with 3 revolute joints — base **yaw** (about Z), shoulder **pitch** and elbow **pitch** — solved with **Cyclic Coordinate Descent (CCD)** inverse kinematics. CCD walks from the end-effector back to the base, rotating each joint by the angle that would best align its remaining chain with the target — projected onto the joint's allowed hinge axis to honor the kinematic constraints. Drag the pink target around in 3D, run an automatic helix / lemniscate / figure-8 trajectory, and watch the joint angles tracked live. Continuation of `engineering/two-link-arm-ik` into 3D.
Key equations
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