Inverse Kinematics of planar 2D mechanism

Using the "xl" and "yl" sliders (showing the derired coordinates x,y of the end effector) the two links of the mechanism moving to reach the point that the sliders show. On the left the angles of the links "θ1" and "θ2" are calculated and change accordingly.
This application created by Pitsilos Eleftherios for the assignment of Robotics and Flexible Automation module of MSc AIMS, Kingston University of London in assosiation with TEI of Pireaus in Greece.