robot arm
clear all
close all
clc
%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 1.5 0 1.5])
pause(0.03)
M(ct)=getframe(GCF);
ct=ct+1;
end
end
movie(M)
videofile=videowriter(\'robot_arm.avi\',\'uncompressed AVI\');
open(videofile)
writevideo(videofile,M)
close(videofile)
In this program the forward kinematics of robot arm is calculated. It has 2 links(link1 and link2)each link have separate length(l) and theta value.
initially the position for each link will be calculated using for loops. The position of link 1 and link 2 will be changed according to the different theta values.
After generating the different values or positions of the links,it will be plotted.
Finally animation will be created by using plot values.
the line for animation file will be given below