Simulation of Forward Kinematics of a 2R Robotiic Arm

Objective: Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

Introduction: Robot Plays important roles in current industrial automation.

Parameters:

Parameters:

`x_1=x_0+l_1cos(theta_1)`

`y_1=y_0+l_1sin(theta_1)`

`x_2=x_1+l_2cos(theta_2)`

`y_2=y_1+l_2sin(theta_2)`

Matlab Code:

close all
clear 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)
    for j=1:length(theta2)
        THETA1=theta1(i);
        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);
        
        %ploting graphs
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
        axis([-0.1 1.5 0 1.5]);
        pause(0.3)
        M(ct)=getframe(gcf);
        ct=ct+1;
        
    end
end
movie(M)
videofile=VideoWriter('forward_kinematic.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M);
close(videofile)

Result: