An N-Jointed Arm is a robotic arm that is made up of N number of joints and N number of lengths, with each joint followed by a length.

Inverse Kinematics is the process of finding the needed rotation of each joint in a robotic arm given the lengths of each arm segment and the desired position of the arm’s end effector.

This post describes the math behind finding an inverse kinematics solution for a robotic arm with any number of joints. The context of this post is in a two-dimensional space.