Complete Guide: Direct, Inverse Kinematics & Jacobian for 2-Link Robot

In this tutorial, I explain direct and inverse kinematics for a 2-link planar manipulator in a simple, step-by-step way. We’ll go through everything you need to understand how a robotic arm moves and how to mathematically model it. What you’ll learn: How to derive the forward (direct) kinematics equations How to find the inverse kinematics equations How to plot and calculate the working area (workspace) How to derive the Jacobian matrix and understand its meaning How these concepts are used in robot motion and control Topics covered: • Denavit–Hartenberg (D-H) parameters (if applicable) • Geometric interpretation of motion • Reachable workspace visualization • Singularities and the role of the Jacobian