diff --git a/cython/gtsam/examples/PlanarManipulatorExample.py b/cython/gtsam/examples/PlanarManipulatorExample.py
index 73959b6c5..e42ae09d7 100644
--- a/cython/gtsam/examples/PlanarManipulatorExample.py
+++ b/cython/gtsam/examples/PlanarManipulatorExample.py
@@ -115,7 +115,7 @@ class ThreeLinkArm(object):
 
         l1Zl1 = expmap(0.0, 0.0, q[0])
         l2Zl2 = expmap(0.0, self.L1, q[1])
-        l3Zl3 = expmap(0.0, 7.0, q[2])
+        l3Zl3 = expmap(0.0, self.L1+self.L2, q[2])
         return compose(l1Zl1, l2Zl2, l3Zl3, self.sXt0)
 
     def ik(self, sTt_desired, e=1e-9):
@@ -297,12 +297,18 @@ def run_example():
     """ Use trajectory interpolation and then trajectory tracking a la Murray
         to move a 3-link arm on a straight line.
     """
+    # Create arm
     arm = ThreeLinkArm()
+
+    # Get initial pose using forward kinematics
     q = np.radians(vector3(30, -30, 45))
     sTt_initial = arm.fk(q)
+
+    # Create interpolated trajectory in task space to desired goal pose
     sTt_goal = Pose2(2.4, 4.3, math.radians(0))
     poses = trajectory(sTt_initial, sTt_goal, 50)
 
+    # Setup figure and plot initial pose
     fignum = 0
     fig = plt.figure(fignum)
     axes = fig.gca()
@@ -310,6 +316,8 @@ def run_example():
     axes.set_ylim(0, 10)
     gtsam_plot.plot_pose2(fignum, arm.fk(q))
 
+    # For all poses in interpolated trajectory, calculate dq to move to next pose.
+    # We do this by calculating the local Jacobian J and doing dq = inv(J)*delta(sTt, pose).
     for pose in poses:
         sTt = arm.fk(q)
         error = delta(sTt, pose)
diff --git a/examples/InverseKinematicsExampleExpressions.cpp b/examples/InverseKinematicsExampleExpressions.cpp
new file mode 100644
index 000000000..9e86886e7
--- /dev/null
+++ b/examples/InverseKinematicsExampleExpressions.cpp
@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file InverseKinematicsExampleExpressions.cpp
+ * @brief Implement inverse kinematics on a three-link arm using expressions.
+ * @date April 15, 2019
+ * @author Frank Dellaert
+ */
+
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/nonlinear/ExpressionFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/expressions.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/expressions.h>
+
+#include <cmath>
+
+using namespace std;
+using namespace gtsam;
+
+// Scalar multiplication of a vector, with derivatives.
+inline Vector3 scalarMultiply(const double& s, const Vector3& v,
+                              OptionalJacobian<3, 1> Hs,
+                              OptionalJacobian<3, 3> Hv) {
+  if (Hs) *Hs = v;
+  if (Hv) *Hv = s * I_3x3;
+  return s * v;
+}
+
+// Expression version of scalar product, using above function.
+inline Vector3_ operator*(const Double_& s, const Vector3_& v) {
+  return Vector3_(&scalarMultiply, s, v);
+}
+
+// Expression version of Pose2::Expmap
+inline Pose2_ Expmap(const Vector3_& xi) { return Pose2_(&Pose2::Expmap, xi); }
+
+// Main function
+int main(int argc, char** argv) {
+  // Three-link planar manipulator specification.
+  const double L1 = 3.5, L2 = 3.5, L3 = 2.5;    // link lengths
+  const Pose2 sXt0(0, L1 + L2 + L3, M_PI / 2);  // end-effector pose at rest
+  const Vector3 xi1(0, 0, 1), xi2(L1, 0, 1),
+      xi3(L1 + L2, 0, 1);  // screw axes at rest
+
+  // Create Expressions for unknowns
+  using symbol_shorthand::Q;
+  Double_ q1(Q(1)), q2(Q(2)), q3(Q(3));
+
+  // Forward kinematics expression as product of exponentials
+  Pose2_ l1Zl1 = Expmap(q1 * Vector3_(xi1));
+  Pose2_ l2Zl2 = Expmap(q2 * Vector3_(xi2));
+  Pose2_ l3Zl3 = Expmap(q3 * Vector3_(xi3));
+  Pose2_ forward = compose(compose(l1Zl1, l2Zl2), compose(l3Zl3, Pose2_(sXt0)));
+
+  // Create a factor graph with a a single expression factor.
+  ExpressionFactorGraph graph;
+  Pose2 desiredEndEffectorPose(3, 2, 0);
+  auto model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
+  graph.addExpressionFactor(forward, desiredEndEffectorPose, model);
+
+  // Create initial estimate
+  Values initial;
+  initial.insert(Q(1), 0.1);
+  initial.insert(Q(2), 0.2);
+  initial.insert(Q(3), 0.3);
+  initial.print("\nInitial Estimate:\n");  // print
+  GTSAM_PRINT(forward.value(initial));
+
+  // Optimize the initial values using a Levenberg-Marquardt nonlinear optimizer
+  LevenbergMarquardtParams params;
+  params.setlambdaInitial(1e6);
+  LevenbergMarquardtOptimizer optimizer(graph, initial, params);
+  Values result = optimizer.optimize();
+  result.print("Final Result:\n");
+
+  GTSAM_PRINT(forward.value(result));
+
+  return 0;
+}