Inverse Kinematics

2 Link Planar Robotic Arm

The arm needs to reach at known point P(x,y) where the arm makes two unknown angles of θ1 and
θ2. The two links of arm are l1 and l2.

Inverse kinematic geometric solution

Drawing the triangle of P(x,y) with origin.
Using cosine rule, one can write as:

Using vector decomposition as

Writing following equations as

Finally writing the final solution as

Two unknown angles can now determine using given point P(x,y) along with known a1(l1) and
a2(l2).