End Effector Trajectory Tracking for Planar Linkage
The end effector (red dot) of this two-link planar arm follows a time-shifting, predefined trajectory while moving in the vertical direction only. The following can be manipulated:[more]
• the distance of the end effector from the fixed end
• the amplitude and frequency of the trajectory
• the elbow orientation (elbow up or elbow down) of the working position
• the trajectory wave type (sine, triangular or trapezoidal)
The animation shows how the two linkages move to smoothly follow the desired trajectory. Two circular dials show the joint angles and as the links move.[less]
 M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Hoboken, NJ: John Wiley and Sons, 2006.