2R Robotic Arm Simulator using Python

2R Robotic Arm Simulator using Python

Objective:

• create the animation of 2R Robotic arm for different θ values using python.

Description:

• A 2R robotic arm consists of 2 links and has a manipulator at the end of 2nd link.
• First link is fixed at one end and is making an angle θ1 with horizontal.
• Another link is making an angle θ2 with horizontal.
• The coordinates of two links are as follows:

where as

• X0,Y0 are coordinates at the fixed end
• X1,Y1 are coordinates at the end of first link
• X2,Y2 are coordinates at the end of second link

Programming in python:

The following is the code for decribing the motion of arms of 2R robot :

import math
import os
import matplotlib.pyplot as plt 
n=10

t1=0
t2=math.radians(90)
l1=1
l2=0.5
x0,y0,f=0,0,0
for i in range(0,n):
	for j in range(0,n):
		theta1=math.radians(t1+i*9)
		theta2=math.radians(t2+j*9)
		x1,y1=l1*math.cos(theta1),l1*math.sin(theta1)
		x2,y2=x1+l2*math.cos(theta2),y1+l2*math.sin(theta2)
		plt.figure()
		plt.xlim([0,2])
		plt.ylim([0,2])
		plt.plot([x0,x1],[y0,y1])
		plt.plot([x1,x2],[y1,y2])
		plt.legend(["link-1,link-2"])
		f=f+1
		plt.savefig("C:\\Users\\Admin\\Pictures\\gif\\forward"+str(f))

• Importing matplotlib module is necessary for plotting the coordinates of links
• t1,t2 are angles in this range the motion has been captured in this program
• l1,l2 are the lengths of links
• Logic has been written inside the nested loop for the flexble combinations of angles for θ1andθ2
• Using functions from module plotting has been programmed in the loop itself for collecting all the pictures of motion for animation.

Commands used in code:

Performing Animation:

• To perform animation here we used magick tool.
• Go to command prompt change directory to location where these pictures are saved
• Go to command prompt

>>> cd C:\Users\Admin\Pictures\gif2

>>> magick *.png output.gif

• Then you will get a gif file named output in the same loction.

Results:

The obtained gif is as follows:

Conclusion:

• Animation of 2R robotic arm has been created using python and magick animation tool.