2R Robotic Arm Simulator with Python

Aim:- Write a program in python to simulate the forward kinematics of a 2R Robotic Arm and create a animation file of the plots.

Solution

code:-

#program by Dakshkumar Jadav

#2R Robotic Arm Simulator

import math

import matplotlib.pyplot as plt

#inputs

# length of two robotic arm

l1 = 1

l2 = 0.5

# total number of theta

n_theta = 10

# calculating both theta1 and theta2

theta_start=0

theta_end=math.pi/2

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)

# calculating coordinates for two robotic arms

#Base of Robot

x0 = 0

y0 = 0

ct=1

for t1 in theta1:

for t2 in theta2:

#link 1 and link 2 connector

x1 = l1*math.cos(t1)

y1 = l1*math.sin(t1)

#Co-ordinate of Manipulator

x2 = x1 + l2*math.cos(t2)

y2 = y1 + l2*math.sin(t2)

filename= 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.savefig(filename)

OUTPUT:-

Report:- In this project, to write a program to simulate the Forward Kinematics of 2R robotic Arm and also to generate the animation file of the plots. This robot has 2 arm of different length (l1=1 , l2 =0.5). In which l1, l2 refers to the length of robot arm and t1,t2 are the value of theta. Then we choose the total number of theta1 and theta2 for simulation . I used 10 values for both theta1 and theta2. for each value of theta1 we get 10 value of theta2. so we get 100 combinations. To calculate all the 3 co-ordinates , i used the formula and

#Base of Robot:- x0 = 0 , y0 = 0

#link 1 and link 2 connector:- x1 = l1*math.cos(t1), y1 = l1*math.sin(t1)

#Co-ordinate of Manipulator x2 = x1 + l2*math.cos(t2), y2 = y1 + l2*math.sin(t2) 

After this we get 100 plots. Using this 100 plots i made Animation i converted it into gif with the help of Image-Magick.