forward kinematics of a 2r robot arm

Aim: simulation of a forward kinematics of a 2r robot arm

Theory:

robot arm:It is a type of mechanical arm, usually programmable ,with similar function to a human arm;the arm may be the sum total of the mechanism or may be part of a more complex robot.

Types of robot arm configuration:

1.cartesian

2.cylindrical

3.spherical

4.articulated

5.SCARA

Description:

In this problem the workspace of a robotic arm with 2 links

namely l1,l2

theta1,theta2 are the angles of link 1 and link2 with respect to x-axis

where,

starting point of link1=x0,y0

end point of link1=x1,y1

starting point of link2 is same as the end point of link1

end point of link 2=x2,y2

the coordinates are;

x0=0

y0=0

`y1=l1*sintheta1``x1=l1*costheta1`

`x2=x1+l2*costheta2`

`y2=y1+l2*sintheta2`

%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('forward_kinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)