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2DOF Arm Simulation

Explore planar two-link robotic arm kinematics, joint motion, position control, and end-effector movement through simulation.

Robotics 2DOF Kinematics Control Embedded
Overview Theory Architecture Simulation Source Code Pinout Examples Downloads

Overview

The 2-DOF Robotic Arm System is a 2-Degree-of-Freedom planar articulated robotic arm kit engineered for exploring robotic arm mechanics, joint angle control, and planar movement.

Featuring dual stepper-driven revolute joints, Shoulder and Elbow, this arm provides a clear, hands-on demonstration of robotic arm dynamics.

With integrated limit switches for joint boundary detection and homing calibration, the arm ensures reliable and safe positioning.

Whether you are learning robotic joint control, testing trajectory algorithms, or developing 2D pick-and-place routines, the 2-DOF Robotic Arm System provides a practical hardware learning experience.


Key Features of the 2-DOF Robotic Arm System

  • Platform Availability: Available under the Robotics Application on the risimide.
  • Dual Articulated Revolute Joints: Features upper arm (15 cm) and forearm (10 cm) links for wide 2D reach.
  • Safety Limit Sensing: Hardware limit switches on both joints define zero home points and help prevent over-rotation.
  • Interactive Path Plotting: Live visual display of end-effector trajectory and reachability within the workspace.
  • High-Precision Stepper Actuation: Smooth joint rotation for detailed planar motion routines.
  • Accessible Learning Platform: Ideal for mastering fundamental robot kinematics without complex multi-axis setups.

Applications & Use Cases

  • Planar robotic arm motion prototyping
  • Fundamentals of forward and inverse kinematics training
  • 2D path planning and workspace analysis
  • Educational mechatronics and control theory experiments
2DOF Arm Control Flow
Target Position
→
Inverse Kinematics
→
Joint Control
→
2DOF Robot Arm

Shoulder Joint
+
Elbow Joint
→
End Effector

The 2-DOF Robotic Arm System is more than an educational kit; it is a practical platform for understanding articulated robot arm manipulation, planar kinematics, motion control, and workspace analysis.

Theory

The 2DOF arm consists of two rigid links connected through two revolute joints. The position of the end-effector depends on the two joint angles.

Forward kinematics calculates the end-effector position from the joint angles, while inverse kinematics calculates the required joint angles for a desired end-effector position.

Forward Kinematics
θ1
+
θ2
→
X, Y Position

Architecture

The robotic system consists of the controller, stepper motors, two links, limit switches, joint control, and the end-effector.

Controller
→
Stepper 1
→
Shoulder Link

Stepper 2
→
Elbow Link
→
End Effector

Simulation

Run the 2DOF robotic arm simulation and observe joint movement, end-effector position, and trajectory.

Launch Simulation

Source Code

Source code for controlling the two joints and calculating the robotic arm position. 

#include <math.h>

            #define L1 15.0
            #define L2 10.0

            void calculate_position(double theta1, double theta2)
            {
                double x;
                double y;

                x = L1 * cos(theta1)
                    + L2 * cos(theta1 + theta2);

                y = L1 * sin(theta1)
                    + L2 * sin(theta1 + theta2);
            }

Pinout

Example pin configuration for the two joint stepper motor and limit switch connections.

Joint 1
Stepper + Limit Switch
Joint 2
Stepper + Limit Switch

Examples

Example movements and robotics exercises for the 2DOF arm.

  • Move to predefined joint angles
  • Move the end-effector to a target X/Y position
  • Draw a circular trajectory
  • Draw a straight-line trajectory
  • Perform homing using limit switches
  • Analyze the reachable workspace

Downloads

Download simulation files, source code, documentation, and configuration files.

Download Files