Reachability and joint limits
24 min · IntermediateUnderstand the concept
A manipulator’s workspace depends on geometry, joint ranges and physical constraints. Not every target pose is reachable, and inverse kinematics may have multiple or no valid solutions. Collision checks and mechanical limits are separate considerations.
Read the associated publisher material for deeper derivations, lectures and problem sets. This summary is an independent Harderware explanation.
Your exercise
Sketch a two-link arm workspace and list a target that could be unreachable even if nearby.
Practice in simulation or at safe low voltage unless supervised by qualified personnel. Follow official equipment safety guidance.
Record your engineering notes
Capture a hypothesis, your observations, test evidence, failure cases or the next experiment. These notes stay in your browser unless you export them.
Knowledge check
Why can inverse kinematics fail?
Practice quizzes are formative and can be retried. Answers are evaluated in your browser; they are not proctored exams.