2R Robotic Arm motion - Mallikarjun Patil

Program for the 2R Robotic arm:-

from math import*
import matplotlib.pyplot as  plt
l1=1.5
l2=.7
n_theta=10
theta_start=pi/2
theta_end=pi/4
theta1=[]
theta2=[]
for i in range (0,n_theta):
    tmp=theta_start+i*((theta_end-theta_start)/(n_theta-1))
    theta1.append(tmp)
    theta2.append(tmp)
print(theta1)
print(theta2)
ct=1
x0=0
y0=0
for t1 in theta1:
    for t2 in theta2:
        #link1,link2 co-ordinator
        x1=l1*cos(t1)
        y1=l1*sin(t1)
        #co-ordinate of the manipulator
        x2=x1+l2*cos(t2)
        y2=y1+l2*sin(t2)
        file_name=str(ct) + '.png'
        ct=ct+1
        plt.figure()
        plt.plot([x0,x1],[y0,y1])
        plt.plot([x1,x2],[y1,y2])
        plt.xlim(0,2)
        plt.ylim(0,2)
        plt.show()

Output:-

[1.5707963267948966, 1.4835298641951802, 1.3962634015954636, 1.3089969389957472, 1.2217304763960306, 1.1344640137963142, 1.0471975511965979, 0.9599310885968813, 0.8726646259971648, 0.7853981633974483]
[1.5707963267948966, 1.4835298641951802, 1.3962634015954636, 1.3089969389957472, 1.2217304763960306, 1.1344640137963142, 1.0471975511965979, 0.9599310885968813, 0.8726646259971648, 0.7853981633974483]

By compiling the above program I obtained the Theta1 & Theta2 Values in array.And after that program generates the graph in loops.by doing that I obtained 10 graphs and saved it saperatly and converted them into Video/Gif file. The following video link is as below.

Spacification:-

Arm length1=1.5

Arm length2=.7

theta start= pi/4

theta end=pi/2

Program:-

Program output:-

Youtube link:

https://youtu.be/wdtUExQU3wU

Gif file of the program:-

Note:-

1. Software used Pycharm