MATLAB - Project 3 - 2R Robotic Arm

• AIM

Matlab Code to Simulate the forward kinematics of a 2R Robotic Arm .

• OBJECTIVE

Generate animation to visualize arm workspace .

• ASSUMPTIONS

1) A robotic arm with two links of length L1 and L2 are considered .

2) The links are assumed to have a planar workspace say X-Y

3) Link 1 is connected to the base through joint 1 and link 2 is connected to link one through joint 2

4) Link 1 makes an angle 'Theta1' and Link 2 makes an angle 'Theta2' with respect to +ve X-axis.

5) Base point of link 1 is assumbed to be (0,0) .

• CALCULATIONS OF CO-ORDINATES

• PROBLEMS & SOLUTIONS

SOLUTION

'Movie(M) in line 45 is case sensitive and to be written as movie(M)

• FINAL CODE

  %Forward kinematics of a 2R Robotic Arm
  
  clear all
  close all
  clc
  
  %Inputs
   
   L1 =  0.5;                               %lenghts of both the links 
   L2 =  0.5;
  
  theta1 = linspace(0 , 90 , 10 );          %taking 10 valuses between (0-90) degree 
  theta2 = linspace(0 , 90 , 10 );          %taking 10 valuses between (0-90) degree 
  
  %For LOOP operation
  ct=1 ;
  for i= 1:length(theta1) ;                
      THETA1 = theta1(i);
      for j= 1:length(theta2) ;
          THETA2 = theta2(j);
          
          
  %Co-ordinates       
  
   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',2 )
   axis([ 0 1 0 1])
   pause(0.5);
   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)
  
  
  

• Results and Animation The animation shows the entire workspace of a 2R Robotic arm

• ANIMATION

YOUTUBE LINK

https://youtu.be/fiKZDYQqQgM

IN CASE YOUTUBE VIDEO GOT DELETED PLEASE REFER THE BELOW LINK .

Google Drive Link

• https://drive.google.com/file/d/1rxMpYqsRJs5DRgeTRqO_Bje4BaXqOary/view?usp=sharing