Kinematics
x
y
t1
t2
L1
L2
Kinematics:
x = L1*cos(t1) + L2*cos(t1+t2)
y = L1* sin(t1) + L2*sin(t1+t2)
Given the joint angles t1 and t2 we
can compute the position of the tip (x,y)
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