Tutorial Description
A simulation for one of the problem in Homework 00 of my robotic course. The Question: In this assignment, you will computationally implement (in MATLAB) the forward and inverse kinematics algorithms for a 2-link RR robot developed in class. Use the following Matlab conventions and names: Link lengths: a=[a1, a2] = [4,5] Joint angles: theta=[ theta1 , theta2 ] EE displacement: disp=[xe ye] Write the Matlab function RR_ForwardPosKin(a, theta) that returns disp. Test this by inputting theta1 = 10sin(t) degrees and theta2 = 20sin(2t +pi/3)degrees and plot the resulting Cartesian trajectory as t varies smoothly from 0 to 2pi.
Forward Kinematic Simulation of an RR two links robot - Video
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