Robotic Arm Lab
Chapter 6 — Jacobian BEAST (Motion Translator)

Main Idea memory line

Jacobian = Motion Translator
Δx ≈ J · Δθ (tiny angle change makes a predicted tiny hand move)
IK loop: ① error vector → ② compute Δθ → ③ apply → ④ error shrink.

Solver Mode compare brains

Mode
CCD vs Jacobian
Iterations / Frame
1 to 80
Gain
0.02 to 0.90
DLS λ (stability)
0.00 to 0.60
Inertia
0 to 1
Damping
0 to 1
Hotkeys: Space auto on/off • S step • R reset

Moving Target boss fight

Pattern
auto motion
Speed
slow → fast
Direction
-1 to +1
Radius
0.8m to 3.2m
Boss Fight Mode
speed ramps
Objective: keep error small even when target moves fast.

Robot Setup constraints

Link-1 Length
0.8m to 2.4m
Link-2 Length
0.6m to 2.2m
Link-3 Length
0.4m to 1.6m
Joint Limits
realism
Solve Plane
learning mode
Jacobian in 2D first. Full 3D Jacobian comes later.

Visual Explain Mode see the math

Show Error Vector
Show Prediction Arrow
Joint Influence Glow
Show Workspace
Show Trace
Solver: —
Error: —
Singularity: —
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