ReachGuard

ReachGuard is a web + desktop app that validates robot kinematics feasibility for planned poses and paths before you waste time in simulation or on the shop floor. You import a URDF (or common vendor formats via converters), define joint limits, tool frames, and basic collision proxies, then paste in target poses or a CSV path. The app runs fast inverse kinematics with constraint checks (joint limits, singularity proximity, wrist flip risk, and simple self/fixture collisions) and returns a clear “reachable / risky / impossible” report with suggested alternative poses (small pose nudges, different IK branches, or reoriented tool frames). It’s not a full motion planner and won’t replace ROS/MoveIt—realistically, it’s a preflight checker that saves engineering hours and reduces trial-and-error. Export results as annotated CSV/JSON and shareable reports for process engineers and integrators.