2R Robotic Arm

Aim:

To write a MATLAB program for forward Kinematic motion of a robortc arm as given in the video

CODE ATTACHEMENT :

close all
clc

l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;

for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
       
        x0 = 0;
        y0 = 0;
        
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);
        
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);
       
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5);
        axis([-0.5 2 0 2])
        pause(0.3)
        v(ct) = getframe(gcf);
        ct = ct+1;
    end
end

movie(v)
Videofile = VideoWriter("nematic3.avi","Uncompressed AVI");
open(Videofile)
writeVideo(Videofile,v)
close(Videofile)

explining the above code in step by step manner

step 1: first clear the command window using the command clc.

step 2: second declear the length of the links and the continuous angle value as theta's as theta1 and theta2 and the counter values as 1.

step 3:here i have made two 'for' loops [with reference to the lecture video of the course].

step 4:In this first 'for' loop i have assigned a value i = 1 to the length of theta1 angle value and then i value is assigned to THETA1 = theta(i) and this same thing is assigned for second 'for' loop i have assigned j in the above same procedure and obtained THETA2.

step 5:Defining the co-ordinates of the link 1 and link 2

step 6:Then using 'plot' command plot the link in the graph as follow

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5)

here [x0 x1],[y0 y1],[x1 x2],[y1 y2] this gives the co-ordinates of the links and the thickness of the line or link is given by ['linewidth',5] where 5 is the thickness value.

step 7: The axis command is used to define where the graph starts.

step 8: Using Pause command i set the time interval of the animation.

step 9:here [v(ct) = getframe(gcf)] this command gives the frame size and storing.

step 10: Then the counter is inceremented.

step 11: Then the for loop ends and using movie command the frames are collected

step 12: Then the file is saved in the formate AVI

step 13: Then using open command the saved file is saved

step 14: Then it is writen using writevideo command

ERROR:

I have faced only one error that the video file is not saved in the desigination and i have attached the error image and resolved it and i get the plot and animation avi file.

Final Plot:

Video link for the Simulation:

I have shared the video in my YouTube the channel name Mechons which made from the MATLAB as simulation and the link is given below ;

link : https://youtu.be/kbTXDCF88Q0

Result:

Hence I have solved the problem using MATLAB code and successfully executed .

[note : I have made one more code for getting the link 's initial position is standing and getting back to length and i have attached it ]

close all
clc

l1 = 1;
l2 = 0.5;

theta1 = linspace(90,0,10);
theta2 = linspace(90,0,10);
ct = 1;

for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
       
        x0 = 0;
        y0 = 0;
        
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);
        
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);
       
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5);
        axis([-0.5 2 0 2])
        pause(0.3)
        a(ct) = getframe(gcf);
        ct = ct+1;
    end
end

movie(v)
Videofile = VideoWriter('kinema1.avi','Uncompressed AVI');
open(Videofile)
writeVideo(Videofile,a)
close(Videofile)

in this code i dont even get any error code and the video link is given below

link : https://youtu.be/KLzMd70FSUk