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Here’s something I have been working on for a larger undisclosed project. It is a 3 Degrees-of-Freedom robotic manipulator simulation, it uses inverse kinematics to estimate the angular position of all three links given a point inside the robot’s working area. It only requires the length of all three links and their starting angular positions.
Here’s a gif of the simulation. The effector is rendered in green, the work area is represented as everything inside the gray circle.