Mathematical Model of a Two-Joint Robotic Manipulator

This resource provides a comprehensive mathematical model for a two-joint robotic manipulator, offering deeper insights into its operational principles. The MATLAB implementation includes complete kinematic and dynamic equations with configurable parameters such as link lengths, masses, and inertia properties. The model features multiple control strategy implementations including PID-based position control, velocity tracking algorithms, and force regulation methods. Key functions include forward/inverse kinematics calculations, Jacobian matrix computation for velocity mapping, and dynamic simulation using Euler-Lagrange formulations. This mathematical framework enables better understanding of manipulator motion patterns and provides a solid foundation for control system development and practical applications. The code structure allows easy modification of mechanical parameters and controller gains for different robotic configurations.