FORWARD KINEMATIC MOTION OF 2R ROBOTIC ARM

FORWARD KINEMATICS OF 2R ROBOTIC ARM USING MATLAB

AIM:

To Stimulate the Forward Kinematics of 2R Robotic Arm Using MATLAB.

THEORIES:

kinematics:

Kinematics is the branch of mechanics which concerned with the motion of objects without reference to the forces which cause by the motion.

Robotic arm:

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a morecomplex robot.
The links of such a manipulator are connected by joints allowing either rotational motion or linear displacement.

Uses:

These robotic arms have been used to perform a variety of tasks such as inspection of the Space Shuttle using a specially deployed boom with cameras and sensors attached at the end effector, and also satellite deployment.

Merits,

• Perform dangerous applications in hazardous settings.
• They do not get exhausted and they work for a long period of time.
• They minimize the material waste, they can save time.

Demerits,

• They won't be creative decision-making, adaptation and job learning.
• They are very costly.

EXPLANATION:

In the above fig1: Shows that there are Two links L1 & L2 Whereas,
L1 have theta 1
L2 have theta 2

L1 have two points starting and ending,(X0 Y0) are the starting point and (X1 Y1) are the Ending Point.L2 also having two points (X1 Y1) are the starting point and (X2 Y2) are the Ending Point.

CALCULATIONS:

Given Values,

L1 = 1m

L2 = 0.6m

theta 1 = (0,90,10)

theta 2 = (0,90,20)

We have to Find points (X0 Y0),(X1 Y1) & (X2 Y2),

X0 = 0

Y0 = 0

X1 = l1*cosd(theta1)

Y1 = l1*sind(theta1)

X2 = X1+l2*cosd(theta2)

Y2 = Y1+l2*sind(theta2)

PROGRAM:

%Forward kinematic of Robotic Arm
l1=1;
l2=0.6;

theta1=linspace(0,90,10);
theta2=linspace(0,90,20);
cf=1
for a=1:length(theta1);
    THETA1=theta1(a);
   
    for b=1:length(theta2);
    THETA2=theta2(b);
    x=0;
    y=0;
    x1=l1*cosd(THETA1);
    y1=l1*sind(THETA1);
    x2=x1+l2*cosd(THETA2);
    y2=y1+l2*sind(THETA2);
 
     plot([x x1],[y y1],[x1 x2],[y1 y2],'linewidth',3)
    axis([-0.1 2 -0.1 2])
    pause(0.01)
    
    M(cf)=getframe(gcf)
    cf=cf+1
    end
end
movie(M)
videofile = VideoWriter('kinematic_robatic_moving_arm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

We have to Program with the given data of l1,l2,theta1 & theta2.

STEP 1;
theta1=linspace(0,90,10) & theta2=linspace(0,90,20) whereas linspace Generate linearly spaced vector.

STEP 2 ;
Using the for loop, we are going to execute the 2R robotic arm, by plotting the points (X0 Y0),(X1 Y1) & (X2 Y2) and the axis.

STEP 3;

To create the movie we have to use Commands like getframe,videofile,VideoWriter etc...,

• getframe is Capture axes or figure as movie frame.
• VideoWriter is create object to write video file.

Finally,run the program.

ERRORS AND CORRECTIONS:

ERRORS:

CORRECTIONS:

In MATLAB there are default Commands are there,in this case we found in movie command like instead of using movie i have typed as Movie.I have changed the upper case M to the Lower case m.

RESULT AND CONCLUSION:

Finally,undergone many calculations,program and rectifying the errors.As per given the Values and Proper Intervals ,We have Stimulated the Forward Kinematic 2R Robotic Arm by using MATLAB.

Click the Video Link: https://www.youtube.com/watch?v=YCPs-4L7cw4