Instructions: Use any mouse button (or the arrow keys) to translate the end-effector. You may also enter directly the posion of the end-effector (x, y) in the "Platform Position" field group. Alternatively, you may drive the robot in the active-joint space. You may also use any mouse button to drive the robot in the active-joint space by dragging the intermediate passive joints.
If the simulation does no appear, you probably need to download Java :
Created by Ty Meng Ung from École de technologie supérieure (ÉTS), Montreal, Canada. Additional support provided by Bilal Zeidan from ÉTS.