FA-87877 / Inverse kinematics solvers / Member archive

Wrist centre is placed beyond the tool tip instead of behind it · case 02

The tool tip ends 2*l3 past the target along the heading.

Member previewVariant 2 · 3 implementations · 7 checks per implementation

Case contract

Input [l1,l2,l3,px,py,phi,elbow]: planar three-link arm, phi is the required tool heading in degrees. Subtract l3 along phi to get the wrist centre, solve the two-link sub-chain (elbow "up" gives q2>=0), set q3=phi-q1-q2 and wrap each joint to [-180,180) in degrees rounded to 4 places. A wrist centre outside |l1-l2|..l1+l2 returns "unreachable".

Why this case matters

Inverse kinematics code turns task-space goals into joint commands; a wrong branch, sign, limit or update order sends a real arm to the wrong pose.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
tool pointing up	`[71.7795, -48.1897, 66.4102]`	`[73.7398, -90.0, 106.2602]`	Failed

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