2-Link Robot Forward Kinematics Calculator

Compute the end-effector position of a planar 2-link serial manipulator from the two link lengths and two joint angles.

Link 1 length L₁ (cm)

Link 2 length L₂ (cm)

Joint angle θ₁ (deg)

Joint angle θ₂ (deg)

How to Use the 2-Link Robot Forward Kinematics Calculator

Enter the two link lengths.
Enter the two joint angles in degrees.
Click Calculate to see end-effector X, Y and reach.

Casi d'Uso

•Robot motion planning.
•SCARA and delta robot simulation.
•Teaching robot kinematics.

Formula

x = L₁·cos(θ₁) + L₂·cos(θ₁+θ₂); y = L₁·sin(θ₁) + L₂·sin(θ₁+θ₂); reach = √(x² + y²).

Domande Frequenti

Is the base at the origin?

Yes. θ₁ is measured from the positive X axis and θ₂ from link 1. Shift the result vectorially if the base is elsewhere.

Why compute reach?

For a 2R planar arm the reachable workspace is an annulus of inner radius |L₁ − L₂| and outer radius L₁ + L₂. "Reach" shows how close the end-effector is to either limit.