Forward Kinematics Of 2R Robotic Arm Using Python

Simulation 2R Robotic Arm Using Python.

#Forward Kinematics of 2R Robotic Arm
#By Chimmani Sri Harsh
import math	
import matplotlib.pyplot as plt 

#Length of Links
l1=2
l2=1

#Theta Array
n_theta = 10

#Starting and End Points
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)
	

#Base of the Robot
x0 = 0
y0 = 0


ct =1
for t1 in theta1:
	for t2 in theta2:
			# Link 1 , Link 2 Connector 
			x1 = l1*math.cos(t1)
			y1 = l1*math.sin(t1)

			# Coordinates of the manipulator
			x2 = x1 + l2*math.cos(t2)
			y2 = y1 + l2*math.sin(t2)

			

			filename = str(ct) 
			ct =ct +1


			plt.figure()
			plt.plot([x0,x1],[y0,y1])
			plt.plot([x1,x2],[y1,y2])
			plt.xlim([0,5])
			plt.ylim([0,5])
			plt.savefig(filename)

The Animation is Given Below