Author: Norberto Torres-Reyes Email: torresre@unlv.nevada.edu
Date: Last modified on 04/10/19
Keywords: kinematics, planar, robotic arm, 2 link, lego, NXC, NXT, mindstorm, dynamixel, plotting

This tutorial is for anyone who wishes to create a 2-link plotting robotic arm using LEGO Mindstorm, NXC software, and Dynamixel RX-28 servos. This tutorial will also reinforce theoretical knowledge about 2-link planar mechanisms, serial communication, and servo control. Readers of this tutorial are recommended to have the following background and interests:

*Previous experience with LEGO Mindstorm
*Matlab and/or C-based programming experience
*Knowledge of linear algebra
*Some knowledge in serial communcation
*Experience with using servos
The rest of the tutorial is presented as follows:

• Parts List
• Theoretical Background
• Preliminaries
• Build Plans
• NXC Code
• Running, Testing and Analysis
• Conclusions