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Here I have created a matlab program to stimulate FORWARD KINEMATICS OF 2R ROBOTIC ARM
CONCEPT DEFINITION:
It is mostly used in robot to compute the position of manipulator from specified value for joint parameter and uses in industries in the places of welding, and in other sectors
DIAGRAM AND COORDINATES:
Here in this picture where we could understand about the forward kinematics how it works that is that the bottom get fixed and LINK 1 gets moves with respective to THETA1 the LINK 2 moves along THETA2 and with respective to link 1 where they get the coordinates as(x0 y0),(x1 y1),(x2 y2)
Using this coordinates and theta we are going to write a program and get animate iT
PROGRAM:
concepts:1[creating a sample linkage ]
*First starting with all program format ie clear all,close all,clc
*Given a length of l1=1,l2=0.5and theta1=45 and theta2 = 30 as per as the picture
*given some calculation to form the coordinates of ((x0 y0),(x1 y1),(x2 y2)) as per as given below
*plotting as a coordinates and the axis
*save and run
CONCEPT 2:[CREATING FOR LOOP]
*For loops states that checking the condition again and again and given the same output
*linespace is comment used to create a large number of dimensional matrix so we used for theta1 to creating number of theta1and theta2
*i and j will be the loop counter thats says how much time the loop going to run
*As per as before program, coordianates are copied here and only inserting the forloop and changing theta according to THETA
*In the linspace command we give(axis,end axis,no of division)
*During plotting given theaxis and color and width if the line
*save and run
CONCEPT 3:[INTRODUCING COMMAND ct]
*Command ct(contour) is used to increase the movement by increasing one (ie ct=ct+1)and getting large number single movement due to theta
output:
CONCEPT 4 :[GIVING AXIS AND PLOT]
*As per as all program concern in this I have given an axis to move forward and pause is used to set the timing to run the stimulate
and hold on is used to run the arm in prescribed time
CONCEPT 5:[CREATING A MOVIE]
*For creating a movie first we need to get the correct figure that in command as getframe(gcf) and keep it in M(ct) where M indicates the movie*
*First write the video as forward kinematics.avi and open the videofile (M) and write and close the videofile
*And at last we could record the video and get saved in the same file where we saved the program.
MOVIE:
https://drive.google.com/file/d/11ix_iaFkhEQJ1npU9QCiqTwiGcwBw_Ou/view?usp=sharing
THUS THE CONCEPT AND STIMULATION OF 2R ROBOTIC ARM IS DONE AND THE ABOVE LINK COULD GIVE THE CLEAR ABOUT THE FORWARD MOVEMENT BY NUMBER OF DIVISION GIVEN WITH RESPECTIVE TO THETA1&THETA2
THANKYOU