2R Robotic Arm Challenge

Program

% animating moviefile forward kinematics of a 2r robatic arm manipulator

clear all
close all
clc

% input

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);

        % plotting

        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([0 1.5 0 2])
        pause(0.03)
        m(ct)=getframe(gcf)
        ct=ct+1
        
    end
end

movie(m)
videofile=VideoWriter('forward_kinematics.avi','uncompressed AVI')
open(videofile)
writeVideo(videofile,m)
close(videofile)

Step wise explanation :

First of all input has been created like l1,l2 & theta.

After that using linspace command in theta create the ten value in between 0 to 90

Then open for loop command used for shown the movement of robatic arm

In plotting command to plot the value of x and y variables and use axis command to create plotting point in x and y axis for robatic arm to move in different direction.

If you use pause command means after playing the video it stop for 0.03 sec then it play .

Then using counter command (ct) it give you single frame figure image.

After that create the movefile using VideoWriter command .

Error faced while programming :

No error

Result :