Inverse Kinematics in Desmos
Link: https://www.desmos.com/calculator/r2j...
1) Calculate the distance from shoulder to target (max length arm length)
2) Use this distance to calculate the angle of the target vector with the x-axis
3) Use this angle to define the position of the hand
4) The distance and the link lengths are the sides of the Shoulder-Elbow-Hand triangle. Use this triangle and Law of Cosines to find theta1 and theta2.
5) Make the Target follow a sinusoidal path to make it look like it's throwing and catching the ball.
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