Matlab program to execute Robotic arm simulation

Aim:

• To write and execute a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

Procedure:

%Program for running a 2R Robotic forward kinematics arm with manipulator(Animation)
clear all
close all
clc

%Inputs
%l1, l2 - Length, thetas
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 = x0 + l1*cosd(THETA1);
y1 = y0 + l1*sind(THETA1);

x2 = x1 + l1*cosd(THETA2);
y2 = y1 + l1*sind(THETA2);

%For plotting an robotic arm
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
axis([-1 3 0 3])
pause(0.03)
M(ct) = getframe(gcf);
ct = ct+1;  
    end
end

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

• Clear all, close all, clc is used to clear the previous functions. % function refers to display the content enact to the viewers
• The following values are checked and inserted accordingly to simulate the manipulator arm action
• The Plot, axis, pause, linewidth options are used instantly to determine the output properly
• Determine the movie functions with case sensitivity properly as given above
• Counterpart ct is used at last to execute the functions correctly

Conclusion:

• The given program is understood and executed in Matlab by simulating the forward kinematics of a 2R Robotic Arm successfully
• Here is the link to the Robotic arm animation (https://drive.google.com/file/d/1tSqO_rtiEWRyIQlCAdkQ9GD1yU-g5Vhu/view?usp=sharing)