forward kinamatics of 2r robotic arm manipulateor
AIM:
to simulate a forwd kinamtics of a 2r roboting arm useing matlab software
THEROY:
KINAMTICS
branch of mechanicsmechanics concerd with thhe motion of object without reference to the forces which cause the motion is called kinamatics
ROBOT MANUPULATOR:
manupulator is a device used to manipulate things without any physical contact by the operator
TYPES ARM CONFIGUREATION:
cartesian
cylindrical
spherical
scara
CONCLUSION:
the link one is given a angle theta i with x axsis as well as link two is given a angle theta2 with x axis
let the lenght of the two links be l1 and l2
let the orgin point of link be x0 and y0
end point of the link be x1 and y1
the starting point of link 2 is equal to the end point of the link 1
the link2 of the end point is x2 and y2
where x=0 y=0
x1= l1*cosd(theta1)
y1=l1*sind(theta1)
x2= x1+l2*cosd(theta2)
y2= y1+l2*sind(theta2)
PROGRAMEING:
clear all
close all
clc
%forward kinamatics of 2r robotic arm manipulator
%inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;
for i=1:length(theta1)
THETA1 = theta1(i);
for j=1:length(theta2)
THETA2 = theta2(j);
%codrinates
x0 = 0;
y0 = 0;
x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);
x2 = x1+12*cosd(THETA2);
y2 = y1+12*sind(THETA2);
%plotting
plot([x0 x1],[y0 y1],[x1 x2],[y1,y2],'linewidth',3)
axis([-0.1 15 0 15])
pause(0.03)
M(ct)=getframe(gcf)
ct = ct+1;
end
end
movie(M)
videofile = VideoWriter('forward_kinamatics.AVI','uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)OUTPUT: