Inverse Kinematics

The end of Arm 1 is at point ( L₁cos(θ₁) , L₁sin(θ₁) ) . The desired location ( x , y ) can be computed as ( L₁cos(θ₁) + L₂cos(θ₂ ) , L₁sin(θ₁) + L₂sin(θ₂ ) ).

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