Robot Arm Motion

This applet will allow the user to draw a chain of points clicking with the mouse on the window, edit them and then compute the area of reachability of the last one. A planar multilink arm is a chain of fixed-length segments, the links Li, i=1,...,n, connected at joints Ji, i=1,...,n. J0 is anchored to the origin, sometimes called the "shoulder" of the arm. Jn is the tip of Ln, sometimes called the "hand". We will explore a simple version of the general problem: