Robotic Arm

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

Code:

% Forward Kinematics
clear all
close all
clc

% Inputs
prompt = 'Enter the Length of Arm 1 : ';
l1 = input(prompt);
prompt = 'Enter the Length of Arm 2 : ';
l2 = input(prompt);

theta1 = linspace(0,90,20);% Angle between Pivot point & Link1
theta2 = linspace(0,90,20);% Angle between Link1 & Link2

ct=1;  
for i = 1:length(theta1)
    temp_t1 = theta1(i);
        for j = 1:length(theta2)
            temp_t2 = theta2(j);
            % Coordinates
            x0 = 0;%Position of Pivot Point & Link1 - Lower End
            y0 = 0;%Position of Pivot Point & Link1 - Lower End
            x1 = l1*cosd(temp_t1);%Position of Link1 - Upper End & Link2 - Lower End
            y1 = l1*sind(temp_t1);%Position of Link1 - Upper End & Link2 - Lower End
            x2 = x1 + l2*cosd(temp_t2);%position of Link2 - Upper End
            y2 = y1 + l2*sind(temp_t2);%position of Link2 - Upper End

            %Plot
            plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5)
            axis ([-1 15 0 15])
            %pause(0.01)
            M(ct) = getframe(gcf);      
            ct=ct+1;
        end
  end

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

Animation File Link: Here