2R ROBOTIC ARM USING MATLAB

Objective: To simulate the 2R Robotic arm using matlab programming.

clear alll
close all
clc

%defining the parameters
l1=1
l2=2

theta1=linspace(0,90,15)
theta2=linspace(0,180,15)

ct=1
for i=1:length(theta1)
    THETA1=theta1(i)
    for j=1:length(theta2)
        THETA2=theta2(j)
        
        % defining the co-ordinates
        x0=0;
        y0=0;
        
        x1=l1*cosd(THETA1);
        y1=l1*sind(THETA1);
        
        x2=x1+(l2*cosd(THETA2));
        y2=y1+(l2*sind(THETA2));
        
        %plotting of graphs
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([-2 3 0 3])
        pause(0.03)
        M(ct)=getframe(gcf);
        ct=ct+1;
        
    end
        
end

%converting the frames into avi

movie(M)
videofile=VideoWriter('forward_kinematics1.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

REPORT:

Assigning the values of link1(l1) which rotates from 0-90 degrees and Link2(l2) which rotates at 0-180 degreees

theta1 and theta2 values are provided with the help of linspace command.

Using For loop we can get the complete movement of each arm.

assigning the values for the co ordinates

x0=0;
y0=0;
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);
x2=x1+(l2*cosd(THETA2));
y2=y1+(l2*sind(THETA2);

Plotting the values in the graph with the line width of 3

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

After plotting the graph we have to convert the frames into avi.

movie(M)
videofile=VideoWriter('forward_kinematics1.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

The link for the video:

Thank You