Forward kinematics of a 2R Robotic Arm

Aim:

To Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

Software used:

GUI octave 5.2.0

Description:

The main use of the process is about simulating the arm by using the suitable coding and to generate the final animation. The coding is done and then some errors are faced while running using octave so then after changing some code then the images are saved sucessefully saved and final output is obtained as vedio.

Program:

#program to calculate 2r robatic arm
clear all 
close all
clc
l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);
c=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);
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([-0.1 1.5 0 1.5])
        pause(0.05)
        file_text=sprintf('output%d.png',c);
        saveas(gca, file_text)
        c=c+1;
      end
 end

https://drive.google.com/open?id=1HoVmiPy0ylsk9kzkNaFUdZWvPMe0b1aa

Result:

Thus the 2 ratational robatic arm had been simulated and video is uploaded