syauqibilfaqih / 2-links-robotic-arm

This is an example of two links robotic arm inverse kinematics simulation on V-rep/CoppeliaSim Edu

2-Links Robotic Arm Project

Overview

This repository contains the source code and design files for a 2-Links Robotic Arm project. The project focuses on Pattern Path Planning Kinematics Robotic Arm 2 Link Using Linear Interpolation.

Equation

This is the equation of linear interpolation:

Code

The implementation on lua programming language of the previous equation can be seen as bellow:

    for titikX=10,1,-1 do
        titikY = ((P2[2]-P1[2])/(P2[1]-P1[1]))*(titikX-P1[1])+P1[2]
        invKin(titikX,titikY,5.5,5.5)
        sim.wait(2)
    end

Video

References

• Binyameen, 2014, ‘Formal Kinematics Analysis Of Two Link Planar Robot’, Master thesis, National University of Sciences and Technology, Islamabad.
• CHAPRA, S. C., & CANALE, R. P. (2006). Numerical methods for engineers. Boston, McGraw-Hill Higher Education.

Contact

For inquiries, please contact me at [email protected].