Defining the problem

Our problem domain consists of a two bone chain where bone₁ is located at the origin and bone₂ is a child of bone₁. Each bone conistis of an angle and a distance . The goal is to get the end of bone₂ to line up with the target point . Because we have set bone1 at the origin, you will need to transform your destination point relative to bone₁. Figure 1 shows how our variables fit together.

figure 1