SIMULATION OF FORWARD KINEMATICS OF A 2 ARM ROBOT

AIM:

To Simulate the Forward Kinematics of a 2 Arm Robot

Objective:

Presently, Robotics and Automation have a very deep impact on industrial field. Automation of systems produces very efficient, faster and convinient production with very minimal human interference. Robotics and automation can be used to perform simple to very complex operations for which they are designed.Robots and automated systems are controlled and operated with help of programs or commands. In this project we will simulate the working of a simple 2 Arm Robot in its defined Work Space.

Command:

%SIMULATION OF fORWARD KINEMATICS OF A 2R ROBOTIC ARM 

clear all

close all

clc

l1 = 2;

l2 = 1.5;

o1 = linspace(0,90,30);

o2 = linspace(0,90,30);

v = 1;

for i = 1:length(o1)

   DEG1 = o1(i);  

   for j = 1:length(o2)

        DEG2 = o2(j);

        x0 = 0;

        y0 = 0;

        x1 = l1*cosd(DEG1);

        y1 = l1*sind(DEG1);

        x2 = x1+l2*cosd(DEG2);

        y2 = y1+l2*sind(DEG2);

         plot([x0 x1],[y0 y1],[x1 x2], [y1 y2],'linewidth',2);

         xlabel('X-Axis','color','g');

         ylabel('Y-Axis','color','g');

         grid on

         axis([-0.05 4 0 4])

         pause(0.0001)

         A(v) = getframe(gcf);

         v=v+1;

   end

end

movie(A)

file=VideoWriter('FORWARD_KINEMATICS','uncompressed AVI');

open(file)

writeVideo(file,A)

close(file)

Overview Of The Command:

1. The length of the 2 arms are defined and is kept  constant.

2. To obtain the different position of the 2 arms, an array for angle is defined.

3. The co-ordinates of the links at different angle is obtained with the help of looping. 

4. Plotting of the links is then done by using the set of co-ordinates obtained.

4. A counter variable is used to store the plot/frame at each position of the links.

5. Finally all the frames are combined to form a video which simulates the Forward Kinematics of the 2 Arm Robot.

Result:

Please follow the below link to view the SIMULATION of Forward Kinematics of the 2 ARM ROBOT .

https://youtu.be/71FDjontD_k

Conclusion:

The Forward Kinematics of a 2R Robotic Arm is simulated with the help of MATLAB coding. The simulation gives us the idea about the workspace of the robot, ie , the space in which the robot can perform its defined operations.