KINAMATIC OF 2R ROBOTIC ARMS IN MATLAD

AIM : To stimulate the forward kinematic of 2R robotic arms.

OBJECTIVE:

• Using matalb stimulate the kinematic of 2R robotic arms
• video presentation of the kinematic of 2R robotic arms

THEORY: Kinematics is the study of motion,apart from the force whiche produce that motion without considerration of the force which act upon it.

USES: its is used in several industries on material handling,for welding purposes,thermal handling.

figure shows that two links is their L1 & L2.L1 makes angle theta1 ,l2 makes angle theta2.

Programming in MATLAB for kinematic of 2R robotic arms

%input
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])
           pause(0.01)
           M(ct)= getframe(gcf)
           ct=ct+1;
          
       end
end


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

EXPLANATION: Assign the inputs value:

l1=1(link1)

l2=0.5(link2)

theta1=linspace(0,90,10)

theta2=linspace(0,90,10)

linspace function used for varies 0 to 90 equally separeted in 10 values.

then , for loop work its define contionous work with certain restriction.

counter is used for increment the loop by 1.

pause function used for controlling the speed of frame .

movie(M) used for create movie of frame and M is an array.

videofile command used to assign in program.

Video presentation in kinematic of 2R robotic arms in MATLAB:

CONCULSION: To stimulate the kinematic of 2R robotis arms is done by using coding and animation.