This example shows how to define a two-link planar robot arm with symbolic variables, and compute the forward and inverse kinematics. The example also visualizes the results with contour plots. Further, it shows how to calculate the system Jacobian and use it further in a Simulink model. The Simulink model uses the inverse kinematics equations and the system Jacobian to simulate the robot to make it write or draw the word 'hello'.
Mihir Acharya (2019). Inverse Kinematics of a 2-link Robot Arm (https://www.mathworks.com/matlabcentral/fileexchange/69892-inverse-kinematics-of-a-2-link-robot-arm), MATLAB Central File Exchange. Retrieved .