Drag the orange target. Click an arm link to poke it.
Planar 2-link arm: joint-space control
Controller
Scenarios
Options
Parameters
Side view of the vertical-plane arm: M(q)q'' + C(q,q')q' + g(q) = tau - b q' (Spong, Hutchinson, Vidyasagar 2006), payload merged into link 2. Controllers know the arm without the payload.