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Forward and Inverse Kinematics for Two-Link Arm
Forward and Inverse Kinematics for Two-Link Arm
This Demonstration lets you control a two-link revolute-revolute robot arm either by setting the two joint angles (this is called forward kinematics) or by dragging a locator specifying the tip of the end effector (this is called inverse kinematics). Most locations in the workspace have two solutions to the inverse kinematics and can be selected with the "elbow up?" check box. The joint velocities are limited to magnitudes less than or equal to 1, represented by a green disc. Joint velocities map to a velocity of the end effector, drawn with a green locator (this is called forward velocity kinematics). Dragging the green locator maps to joint velocities (this is called inverse velocity kinematics). You can vary the relative link lengths under the constraint that +=2.
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