Hello Spulber,
As per my understanding, you are trying to create a 2-Link Manipulator Robot and calculating its Joint Position and Acceleration given the Initial and Goal Configurations.
You can go through the following steps to accomplish the same:
- Create a robot as a "rigidBodyTree" object using the Transformation Matrices. You can refer to this documentation to build a robot using the same: Build a Robot Step by Step - MATLAB & Simulink (mathworks.com)
- Simulate the Joint Space Motion of the Robot Manipulator using a specific Control Function. You can refer to this documentation to simulate the same: Simulate Joint-Space Trajectory Tracking in MATLAB - MATLAB & Simulink (mathworks.com). The example, illustrates how to plot the results as well.
You can refer to the documentation on "rigidBodyTree" for more information on that as well:
