Two-Link Robotic Arm following Circular Trajectory

This repository contains a simulation of a two-link robotic manipulator tracking a circular trajectory. The simulation demonstrates the use of inverse kinematics for joint angle calculations and forward kinematics for visualizing the motion.

Features

• Trajectory Tracking: The robotic arm follows a predefined circular path.
• Kinematics: Inverse kinematics for calculating joint angles, forward kinematics for visualizing movement.
• Visualization: Real-time animation of the robotic arm using matplotlib.

Simulation Preview

Here is a preview of the simulation:

How It Works

1. Trajectory Definition: A circular trajectory is defined as the desired end-effector path.
2. Kinematics:
   • Inverse Kinematics: Calculates joint angles required to achieve a given end-effector position.
   • Forward Kinematics: Computes the position of the end-effector and links based on joint angles.
3. Real-Time Simulation: Animates the manipulator as it follows the trajectory.

Requirements

• Python 3.7 or later
• NumPy
• Matplotlib

Install the dependencies using pip:

pip install numpy matplotlib