2DOF
2DOF, short for two degrees of freedom, is a term used in physics and engineering to describe a system whose configuration can be specified by two independent generalized coordinates. The degrees of freedom correspond to independent directions in which the system can move or be reconfigured. In practice, two degrees of freedom may be realized as two rotational coordinates, two translational coordinates, or a combination thereof. The concept is often contrasted with systems that have more or fewer coordinates needed to specify state.
In mechanical systems, a common 2DOF realization is a planar two-link robotic arm, also called a 2R
Equation of motion for a 2DOF mechanical system can be derived with Lagrangian mechanics, yielding a coupled
Applications of 2DOF systems appear in robotics, vehicle suspensions, biomechanics, and vibration isolation. The analysis emphasizes