Forward Kinematics of 2R Robotic Arm

Forward Kinematics of 2R Robotic Arm

This Code is to simulate the motion of a 2R Robotic Arm using Matlab. A robotic actuator with 2 arms and 2 revolute joints is considered for this simulation. The motion is assumed to be on 2 dimensions. The logic employed in the Code is simple trigonometry.

clear all 
close all
clc
theta1=linspace(0,90,10)%Intializing the angles array
theta2=linspace(0,90,10)

l1=1;%Length of the arm
l2=0.5;
ct=1;%Initializing counter variable
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)
    plot([x0 x1], [y0 y1], [x1 x2], [y1 y2], 'linewidth', 3);
    axis([-0.1 1.5 0 1.5])
    pause(0.03)
    %creating image for evry iteration
    M(ct) = getframe(gcf);        
      
   image_name = sprintf('%05d.png',ct);
  saveas(gca, image_name)
 ct = ct+1;
    end
end

After Images are generated, they were stitched using Imagemagick software