CONDUCTING AN EXAMINATION OF THE TRAJECTORY AND WORKSPACE OF THE MANIPULATOR WITHIN THE MATLAB ENVIRONMENT.

The paper delves into the possibilities of computer modeling for manipulator systems within the Matlab program. The analysis is directed towards a two-link manipulator model. Within the framework of kinematic analysis, the paper confronts the solution to the inverse kinematics problem and subsequently navigates through the solution to the direct kinematics problem. The trajectory is modeled by a fifth-degree polynomial during the motion from a known initial position to the specified final position within defined working regions of the manipulator. The work encompasses graphical representation of the results. The manipulator's workspace is also delineated, considering angular constraints on both arms and illustrating the trajectories during operational movement. [ABSTRACT FROM AUTHOR]