Challenge

Week 2- 2R Robotic Arm Challenge

DDattatray Wadge3 Aug 2022

AIM-

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

INTRODUCTION-

In this robotics arm like automobile ibdustries & aviation all the process like welding & painting are automatic.thies all the process are automatically done by robots.the design stage of robot need a work space i.e range which upto arm can be reach.

GOVERNING EQUATION-

We will take a simple robotic arm use two link for for the program. as per below image we have two length (l1&l2) making two angles with the horizontal axis respectively.

Link one is attached to the base and end of link is connected to thre other link 2 and end of link 2 is used to the which perform the disiear operation.

Equation of calculating the co ordinate of the link starting & ending point.

link1-

Starting point =[x0 ,y0]=[0,0]

Ending point=[x1,y1]=[l1cosd theta1,l1sind theta1]

link2-

Starting point =[x1 ,y1]=[l1cosd theta1,l1sind theta1]

Ending point=[x2,y2]=[x1+l2cosd theta2,y1+l2sind theta2]

PROGRAM-

clear all

clc

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=l1+l2*cosd(THETA2);

y2=l1+l2*sind(THETA2);

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);

axis([-0.1 1.7 0 1.7])

title('kinematics of 2R robotics arm')

xlabel('arm moment in x axis');

ylabel('arm moment in y axis');

pause(0.3);

M(ct) = getframe(gcf);

ct = ct+1;

grid on

end

movie(M);

videofile=VideoWriter('videountitled.m','Uncompressed AVI');

open(videofile)

writeVideo(videofile,M);

close(videofile);

ERRORS-

Error1- I have missing the clear all at the start of program.

clear all

clc

Error2- Ihave missing the for loop before the J.

for j=1:length(theta2);

Error3= speling missing titel insted of title.

Error 4=video not run.

You tube video link-

https://youtu.be/eezzZ_4WakM

Week 2- 2R Robotic Arm Challenge

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.