Inverse Kinematics Calculator

Enter a tool orientation vector and machine rotary layout to solve for axis angles.

Tool vector

Spindle / tool Z-axis direction in machine coordinates (i, j, k).

Machine configuration

C rotates about Z on table, then A rotates about X on trunnion.

Results

Solution 1

C0.00°
A0.00°
  • ⚠ Singularity: tool aligned with +Z — C is arbitrary.
  • • Right-hand rule, positive rotation. Table rotary convention.
  • • Roll about the tool axis is not constrained by two rotary axes alone.
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Orientation guide

X rotXYZ+Z₀Tool
  • X / Y / Z — machine axes
  • Tool — your input vector (spindle Z)
  • Dashed rings — configured rotary axes
  • C about Z on table (order 1)
  • A about X on table (order 2)