This repository showcases the statics, dynamics, and kinematics of a 2D robotic manipulator. A two-link robot manipulator is modeled using a Proportional Derivative (PD) Controller for closed-loop operation of the arm. The PD gain parameters are hand-tuned to ensure optimal performance.
Below is animated simulation in Matlab of a 2-link robotic manipulator moving closed loop using a PD controller.
This is the position of Joint 1 vs Time
This is the position of Joint 2 vs Time
This is the X-position of the robot's end-effector
This is the Y-position of the robot's end-effector
Below is an animation of the robotic arm maintaning a linear motion which is essential for many industrial applicaitons.
