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Chapter 02

Basics of Animation and Forward Kinematics

Page 2

In order to get accustomed with the variables and arm position, a short exercise is presented below

Try to imagine the arm position
Consider the following arm position:

L1 = 110.0; % Link Length in mm
L2 = 140.0; % Link Length in mm

lx(1) = 0.0;
ly(1) = 0.0;

lx(2) = lx(1) + L1;
ly(2) = ly(1);

lx(3) = lx(2);
ly(3) = ly(2) +L2;

and imagine the robot arm on the Cartesian co-ordinate X-Y plane:

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