A planar arm of two links, with a closed-form inverse.
Creates an arm from its shoulder and elbow link lengths; each magnitude is used.
The closest and farthest the hand reaches.
Returns the joint angles that put the hand at a point, or null for a point out of reach, an arm with a link of no length, or a coordinate that is not a finite number.
null
Returns where the hand is for a shoulder and an elbow angle, in radians.
A planar arm of two links, with a closed-form inverse.