Symbolic approach to deriving 2D two link robot forward kinematics using Matlab. Mathematica version is almost the same.

Numerical approach to inverse kinematics for 2D two link robot using Matlab. Here is the forward kinematics routine used to evaluate joint angles.

Symbolic approach to deriving 2D two link robot differential kinematics (Jacobian) using Matlab.

Symbolic approach to deriving 2D two link robot dynamics using the Newton Euler method and Mathematica.

Symbolic approach to deriving two link robot dynamics in 3D using the Newton Euler method and Mathematica.

Symbolic approach to deriving two link robot dynamics in 3D using the Lagrangian method and Mathematica.