To simulate the forward kinematics of a 2D Robotic Arm.

OBJECTIVE:

To simulate the forward kinematics of a 2D Robotic Arm.

The 2D robotic arm is used in various works like in automation industries. In the simulation of a 2D Robotic Arm we have to get all the workspce covered by the arm in 2D i.e. in x_axis and in y_axis.

In this program assume a robotic arm have 2 linkages and getting motion in 2D with the variation of angle from 0 to 90 degree for 10 equispace angles.

% To simulate the forward kinematics of a 2R Robotic arm.
clear all
close all
clc

%Inputs
l1 = 1; % length of link 1
l2 = 0.5; % length of link 2

theta1 = linspace(0,90,10); % Rotation of link 1 at different angles
theta2 = linspace(0,90,10); % Rotation of link 2 at different angles

ct = 1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
 
% X&Y coordinates at different position
        x0 = 0; % Start position of link 1
        y0 = 0;

        x1 = l1*cosd(THETA1); % Joint of link 1&2
        y1 = l1*sind(THETA1);

        x2 = x1 + l2*cosd(THETA2); % End position of link 2
        y2 = y1 + l2*sind(THETA2);
    
        %plot
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([-0.1 1.5 0 1.5]) % plot limits
        pause(0.03)
        M(ct) = getframe(gcf);
        ct = ct+1;
    end
end
movie(M) % Create movie
videofile =  VideoWriter('forward_kinematics_for.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

RESULT:

In this the maximum possible workspace of a 2D Robotic arm get covered.

https://drive.google.com/open?id=1ZVYyh9tZIzneoBVXCw3YSbJ-Onb7261t