The Situation: You have a robotic arm that starts out aligned with the xo-axis.
You tell the first link to move by Y1 and the second link to move by Y2.
The Quest: What is the position of the end of the robotic arm?
. Geometric Approach: This might be the easiest solution for the simple situation. However, notice that the angles are measured relative to the direction of the previous link. (The first link is the exception. The angle is measured relative to it’s initial position.) For robots with more links and whose arm extends into 3 dimensions the geometry gets much more tedious.
2. Algebraic Approach : Involves coordinate transformations.
