Matlab Program for Robotic arm rotating
clear all
close all
clc
%inputs
l1=1;
l2=0.5;
l3=0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
theta3 = linspace(0,90,10);
ct = 1
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
for k = 1:length(theta3)
THETA3 = theta3(k);
x0 = 0;
y0 = 0;
x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);
x2 = x1 + l2*cosd(THETA2);
y2 = y1 + l2*sind(THETA2);
x3 = x2 + l3*cosd(THETA3);
y3 = y2 + l3*sind(THETA3);
figure(1)
%plotting
plot([x0 x1],[y0 y1],'LineWidth',3,'color','r');
hold on
plot([x1 x2],[y1 y2],'LineWidth',3,'color','g');
hold on
plot([x2 x3],[y2 y3],'LineWidth',3,'color','b');
axis([-0.1 3 0 3]);
M(ct)=getframe(gcf);
ct = ct +1;
hold off
end
end
end
movie(M)
videofile = VideoWriter('forward_kinematics_Robotics_arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)
Result:
The output of the program is given in the below link.
https://drive.google.com/file/
https://drive.google.com/file/d/1IGl_r-2umIwRkLkql7fmopicM017Wjxt/view?usp=sharing