Instantaneous kinematics of a planar two-link open chain in complex plane

This research aims to investigate the instantaneous kinematics of the terminal link of a planar two-link open chain using the canonical coordinate system of planar two-parameter motion. It is based on the complex-number technique. We review the higher-order instantaneous invariants of this motion of the terminal link with reference to the first and second-order instantaneous invariants. We apply these instantaneous invariants in complex number form to curvature theory. Finally, we give some examples by choice of different parameters and exhibit the comparisons.