Inverse Kinematics

Inverse kinematics is the problem of computing joint configurations that place a robot arm’s end effector at a desired position. This simulation uses the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm, which iteratively adjusts a chain of joints by alternating forward and backward passes. Each pass moves joints toward the target while preserving segment lengths—converging rapidly to a natural, smooth solution. Drag the gold target or enable mouse tracking to explore.