10.5.1. 2-DOF Planar Robot Arm

Try these first

1. 1.

   What does 2-DOF stand for?

   Hint

   Think about how many joints the arm has.

2. 2.

   What is the main purpose of forward kinematics?

   Hint

   Consider the direction of the calculation.

3. 3.

   What is the primary function of a 2-DOF planar robot arm?

   • A. Teleporting
   • B. Moving in 3D space
   • C. Reaching specific positions in a 2D plane

   Hint

   Think about the dimensions it operates in.

4. 4.

   Explain inverse kinematics.

   Hint

   Consider the reversal of the FK process.

5. 5.

   A 2-DOF robot arm has link lengths of 5m and 3m. Calculate the angles required for the end-effector to reach the point (3, 4) in the plane.

   Hint

   Form a triangle using the arm lengths and desired endpoints.

6. 6.

   Given a set of multiple possible configurations for a given end-effector position, describe how you might choose the best configuration for a task.

   Hint

   Visualize how an arm might fit in tight spaces.