A program in python to simulate the forward kinematics of a 2R Robotic Arm

link for youtube: https://youtu.be/j-6qQs_zUU4

Write a program in python to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video.

Aim: simulate the forward kinematics of a 2R Robotic Arm

Problem statement : there is 2 link robotic arm which oscillates around theta1 and theta2.so we have to plot the animation of this.

Problem solution:

link length

l1=1

l2=0.5

no.of theta values

n_theta=10

start and end value for theta

theta_start=0

theta_end=(math.pi)/2

empty array for theta1 and theta2

theta1=[]

theta2=[]

running the for loop for creating theta1 and theta2 value

tmp=`theta+i*(thetaend-theta)/(n_theta-1)`

adding vaules in theta1 and theta2

x and y value for ground

x0=0

y0=0

to save image in standrad name (1 to 100)

ct=1

for t1 in theta1:

for t2 in theta2:

end of link1 nd start of link 2

x1=l1*math.cos(t1)

y1=l1*math.sin(t2)

end of link2 and manipulator

x2=x1+l2*math.cos(t1)

y2=x2+l2*math.sin(t2)

#saving file name in systematic way

filename=str(ct)+'.png'

animating the link 1 and link2 postions

results : it is clealy shown in animation that the link arm changes with the varying angle.