PROGRAM TO STIMULATE ROBOTIC ARM USING MATLAB.
AIM:-To stimulate the forward kinematics of a 2-R Robotic arm using MATLAB.
PRINCIPLE:-Robotic arm is mechanical arm which is programmed to perform various tasks like Welding , lifting up the things etc. The robotic arm consists of certain number of links for a particular task. Each of these links are helded together with help of various joint .Joints help in constraining the degree of motion and achieve the particular direction of motion we wish for the mechanism.
OBJECTIVES OF THE PROJECT:-
- To stimulate the robotic arm using MATLAB.
- To create an animation file of the robotic arm.
- To plot various positon of the robotic arm according the angle of links .
BODY OF THE CONTENT:-
- Declaring the length of the links and the range of the inclination of the angles of respective links with repsect to origin as well as the the First link.
- Dividing the angle into equal spaces with help of linspace command.
- Finding the Coordinates of each links with respect to postion and assigning to each link.
- To know the various position of second link for one fixed postion of First link.
- Repeat the same for various positions of First link and corresponding positions of Second link.
- For repeating the above procedure we have to use for loop .
- For generating plots we have to use plot command .
- For capturing the all the frames we use getframe command to capture every frame.
- Storing each and every frame and making it into a movie with help of Movie command.
- So for this we have ot create a videofile and write into.
- After that we have to close the movie file and we can play it.
CODE FOR THE SIMULATION OF THE ROBOTIC ARM:-
PLOTS:-
Taking into Account that angles are divided into smaller proportion the plot looks as shown below for fixed positon of first link and varying position of second link ,and repeating the same for various positions of First link.
CONCLUSION:-
- Plot is made for robotic arm stimulation.
- Movie is created.
- Stimulated robotic arm using MATLAb