2R ROBOTIC ARM SIMULATOR USING PYTHON

The object of Project: - To Create an animation like 2R Robotic-arm movement using “Python” programming.

Strategy: -

1. First, we define the robotic arm length and angular movement.
2. Plot different plots of different positions of the robotic arm.
3. Create an animation taken all positional plots.

All variables and Coordinates: -

• L₁ = 1 m (Length of Frist Arm)
• L₂ = 0.5 m (Length of Frist Arm)
• θ₁ = All angular position of L₁
• θ₂ = All angular position of L₂
• (x₀,y₀) = (0,0) (Starting Point of L₁)
• (x₁,y₁) = (L₁ cosθ₁, L₁ sinθ₁) (End point of L₁ and start of L₂)
• (x₂,y₂) = (L₁ +L₂ cosθ₂, L₁ +L₂ sinθ₂) (End point of L₂)

Main Program: -

#Programming for 2R Robotic Arm
#All Require Module Import
import math
import numpy as np
from PIL import Image
import matplotlib.pyplot as plt

#Inputs
l1 = 1      #Length of Robot first Arm
l2 = 0.5    #Length of Robot Second Arm
theta1 = np.linspace(0,(math.pi/2),10)   #Multiple value of Angle frist Arm Rotation
theta2 = np.linspace(0,(math.pi),12)     #Multiple value of Angle Second Arm Rotation
Plots = []
count = 1 

for i in range(0,len(theta1)):
    x0, y0 = 0, 0                           #(x0,y0) cordinates of Start point of Frist Arm
    for j in range(0,len(theta2)):
        x1 = l1 * math.cos(theta1[i])
        y1 = l1 * math.sin(theta1[i])       # (x1,y1) cordinates of End point of Frist Arm and Start point of Second Arm
        x2 = x1 + l2 * math.cos(theta2[j])
        y2 = y1 + l2 * math.sin(theta2[j])  # (x2,y2) cordinates of End point of Second Arm
        filename = str(count) + '.png'      # Write File name
        count += 1
        plt.figure()
        plt.xlim(-1,2)
        plt.ylim(0,2)               #Define x, y axis limit
        plt.plot([x0,x1],[y0,y1])   #Plot Robot first arm
        plt.plot([x1,x2],[y1,y2])   #Plot Robot Second arm
        plt.savefig(filename)       #save Plots
        Abd = Image.open(filename)
        Plots.append(Abd)           #All plots Add in Plots List
        plt.close()                 #For Close All plots After Creat

Plots[0].save('2R robotic arm animation.gif', format='GIF',
            append_images=Plots[1:],
            save_all=True,
            duration=300, loop=0)       #For Save all plots as Animation
        

Problem Statement:-

1. I faced a problem in making animation taken all plots.

Solution: -

1. I got the above problem’s solution online at https://www.geeksforgeeks.org/python-pil-image-save-method/

Result: -

All plots and animation of this program are saved in Google Drive at https://drive.google.com/drive/folders/1Q9fAtlcgFhBksO3a_bGS1PxPeOUufnGE?usp=sharing

Animation:-