Inverse Kinematics of a 2-link Robot Arm

Calculate and visualize the inverse kinematics of a 2-link robot arm along with the Jacobian, and make the robot to write Hello.
Updated 11 Jan 2019

View License

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'.

Cite As

Mihir Acharya (2024). Inverse Kinematics of a 2-link Robot Arm (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2018b
Compatible with any release
Platform Compatibility
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Inverse Kinematics 2 Link Robot Arm

Inverse Kinematics 2 Link Robot Arm

Version Published Release Notes