FORWARD KINEMATICS OF 2R ROBOTIC ARM

TITLE : Detailed report on forward kinematics of 2R robotic arm.

AIM:To stimulate the 'forward kinematics' of a 2R robotic arm using matlab.
  

THEORY:A manipulator/end effector movement determines the workspace where the robotic arm can b eapplicable.Our motive is to determine the 
movement of robotic arm with the subsequentrelative motion between two comprising links.


CODE:
clear all
close all
clc

%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);
  x0 =0;
  y0 =0;
  
  x1= l1*cosd(THETA1);
  y1= l1*sind(THETA1);
  
  x2= x1 + l2*cosd(THETA2);
  y2= y1 + l2*sind(THETA2);
  
  %plotting
  
  plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
  axis([-0.1 1.5 0 1.5]);
  pause(0.03)
  M(ct)=getframe(gcf)
  
  ct = ct+1
  end
  
  
end

movie(M)
videofile = VideoWriter('forwardkinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)


CODE EXPLANATION: (.)Define length of robotic arm as l1 and l2 and assign values to theta1 and theta2 using linspace command.
(.)Use for command for iterating the values of desired variable.
(.)Again use for command for providing movement to the second robotic arm.
(.)Define the coordinates of both the robotic arms.
(.)Plot the coordinate values , and write commands for giving a look to the plot according to you.
(.)All the figures are assigned to a variable M,using ct followed by termination of for loop.
(.)At last, movie command is used to combine all the figures saved in M file format to make an animation and saving it in .avi format.
 
  
CONCLUSION:The stimulation oF 2R robotic arm and it's workspace have been estimated.