Inverse Kinematics Equations:
θ₂ = ±arccos((x² + y² - L₁² - L₂²) / (2·L₁·L₂))
θ₁ = arctan2(y, x) - arctan2(L₂·sin(θ₂), L₁ + L₂·cos(θ₂))
Parameters:
• L₁ = 120 px (Upper arm length)
• L₂ = 100 px (Forearm length)
• Base position: (200, 350)
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