ROBOTICS LAB // INTERACTIVE KINEMATICS WORKBENCH

2-Link Planar Robot Arm Simulator (Forward Kinematics)

Adjust joint angles (θ1, θ2) and link lengths (L1, L2) to inspect real-time end-effector coordinates, elbow joint geometry, and the annular reachable workspace envelope.

JOINT & LINK PARAMETERS
PRESET CONFIGURATIONS
Elbow Joint J₁ (x₁, y₁):
End-Effector EE (x₂, y₂):
Radial Distance (R):
Global Angle (φ = θ₁+θ₂):

Live Forward Kinematics Evaluation

Planar homogeneous transformation from base origin J0(0,0) to end-effector (x2, y2): 


    


    

      
Simulator Assumptions & Limitations

      
    
        
  • Geometric Kinematics Only: Computes planar geometric forward kinematics. Does not simulate rigid-body mass, gravity droop, Coriolis forces, or actuator stall torque limits.
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  • Planar 2-DOF Constraint: Motion is confined to the 2D XY plane with revolute joints (R-R topology). Industrial arms typically use 6-DOF spatial joints (R-R-R-R-R-R).
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  • Idealized Joint Limits: Self-collision geometry depends on physical link housing diameter; the elbow slider is bounded to ±160° to illustrate typical mechanical hard-stops.
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