2R Robot Forward Kinematics Calculator
Planar2R fixed-base forward kinematics, second angle relative to first link, no motion command or obstacle safety. Caller independently establishes units, regime, calibration and applicability; this does not establish design-code compliance, authenticity, operational safety, treatment efficacy or a validated forecast.
Description
Planar two-link forward kinematics maps joint angles and link lengths to a position.
Planar two-link forward kinematics maps joint angles and link lengths to a position.1
The second angle is relative to the first link under this model's convention. Use this tool to calculate 2R Robot Forward Kinematics from the supplied measurements and assumptions.
When to use 2R Robot Forward Kinematics Calculator
Use this tool to calculate 2R Robot Forward Kinematics from the supplied measurements and assumptions. Establish the SI units or caller unit basis, load signs, measurement interval, model conditions and independently chosen coefficients or references.
How to use 2R Robot Forward Kinematics Calculator and understand its results
- Establish the SI units or caller unit basis, load signs, measurement interval, model conditions and independently chosen coefficients or references.
- Enter linkLengthsM, jointAnglesRad, using the field meanings and rules below, then run the tool.
- Read endEffectorXyM. Interpret the fields using their units, signs and evidence conventions below.
- If input validation fails, correct the reported field and run again. Before applying the result, check reference scope, model assumptions and any missing evidence or placeholder values.
| Input field | Meaning | Value type | Requirement |
|---|---|---|---|
| linkLengthsM | Link lengths m | list of number | Required |
| jointAnglesRad | Joint angles rad | list of number | Required |
Enter exactly two positive link lengths in m and two finite joint angles in radians. Use q1 relative to the reference axis and q2 relative to link one; return Cartesian endpoint coordinates. No limits, obstacles or inverse solution is assessed.
x=l1cos(q1)+l2cos(q1+q2); y=l1sin(q1)+l2sin(q1+q2) Use the exact units, boundary rules, ordering and missing-evidence conventions above.
| Output field | Meaning | Value type |
|---|---|---|
| endEffectorXyM | End Effector Xy M; follow the units, sign, ordering and evidence convention stated above | list of number |
{
"input": {
"linkLengthsM": [
2,
1
],
"jointAnglesRad": [
0,
1.5707963267948966
]
},
"output": {
"endEffectorXyM": [
2,
1
]
}
}Limitations and assumptions
The second angle is relative to the first link under this model's convention. Interpretation depends on the units, sampling scope and exact model described above.
All listed fields require explicit values. Unexpected fields, incorrect types, nonfinite numbers and sparse evidence arrays fail validation; the specific bounds and alignment requirements are stated above. Extremely large inputs or outputs can also be rejected. An input error is distinct from a successful result reporting false, no matches or missing evidence.
Alternative or Complementary methods
Use 2R Robot Inverse Kinematics Calculator for this related task: A planar two-link arm can reach a point through two angular branches when geometry permits.
Use Cubic Trajectory Polynomial Calculator when its separate inputs and assumptions fit the question: A cubic trajectory can meet specified positions and velocities at two endpoint times.
References
-
2R Robot Forward Kinematics Calculator — tool.io
Similar or alternative tools
- 2R Robot Inverse Kinematics Calculator
A planar two-link arm can reach a point through two angular branches when geometry permits.
- Cubic Trajectory Polynomial Calculator
A cubic trajectory can meet specified positions and velocities at two endpoint times.