Forward Kinematics of a 2R Robotic Arm

AIM: To write a programme in MATLAB to simulate the forward kinematics of 2R robotic arm.

To create the animation of plots obtained for different aangles made by links.

THEORY: Forward Kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters.

CALUCULATIONS:

Cordinates of two end points of link 1

x0= 0 y0= 0

x1= l1`xx`cos`theta1`

y1= l1`xx`sin`theta1`

Cordinates of end point of link 2

x2= x1+l2`xx`cos`theta2`

y2= y1+l2`xx`sin`theta2`

CODE TO SIMULATE FORWARD KINEMATICS OF 2R ROBOTIC ARM:

% forward kinematics 

clear all
close all
clc

% Inputs
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

ct = 1;

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);
        
        %plotting
        
        plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3);
        axis([-0.1 1.5 0 1.5]);
        M(ct) = getframe(gcf);
        pause(0.03);
        ct = ct+1;
    end
end

movie(M);
videofile = VideoWriter('forward_kinematics_with_for_loop.avi','Uncompressed AVI');
open(videofile);
writeVideo(videofile,M);
close(videofile);
        

PLOTS AND OUTPUT ANIMATION OBTAINED:

https://www.youtube.com/watch?v=2jaiNH-KCc8&feature=youtu.be