Robot Arm Motion
This applet will allow the user to draw a chain of points clicking
with the mouse on the window, edit them and then compute the
area of reachability of the last one.
A planar multilink arm is a chain of fixed-length segments, the
links Li, i=1,...,n, connected at joints Ji, i=1,...,n.
J0 is anchored to the origin, sometimes called the "shoulder" of the arm.
Jn is the tip of Ln, sometimes called the "hand".
We will explore a simple version of the general problem:
- We place no restrictions on joint angles. In particular, the arm may
- We consider the plane to be empty: there are no obstacles.
The applet simulates the movement of a 2-link arm in a plane. Please click on
the last introduced vertex and drag it to the point you want the arm to be
If the point is reachable, then the "elbow" (next to last vertex) and the
"hand" shoud move. If the point is not reachable, then a pop-up window
will show up informing the user.
For a sample of the presentation, please click here .
For java code for cPolygoni.java, the class that computes the arm
movement, please click here .
For java code for PolygonCanvas.java, the class that contains the graphics, please click here .
For more information about the previous code, please click here .