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 (2023). 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 .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!Start Hunting!