Week 2- 2R Robotic Arm Challenge

Here I have written a program of 3 Robotic arm to show the animation .

Explanation:

1. First I have taken arm lengths and their angle as input.
2. Then I used 3 forloops for 3 arms and wrote the Mathematicl logic for all the 3 arms inside the loop.
3. Then I wrote the code inside the loop to plot the arms and to show the animation.
4. Then I have done the movie of that animation by adding some codes at the end.

Here I have attached the MATLAB code for the above problem and also attached the google drive link of the movie.

% Forward Kinematics of a 3R robotic arm manipulation
clear 
close all
clc

% Inputs
l1=1;
l2=0.5;
l3=0.4;
theta1=linspace(0,360,10);
theta2=linspace(0,360,10);
theta3=linspace(0,360,5);

%taking a counter value for each frame
ct=1;
for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta2)
        THETA2=theta2(j);
        for k=1:length(theta3)
            THETA3=theta3(k);
        x0=0;
        y0=0;
        
        x1=l1*cosd(THETA1);
        y1=l1*sind(THETA1);

        x2=x1+l2*cosd(THETA2);
        y2=y1+l2*sind(THETA2);

        x3=x2+l3*cosd(THETA3);
        y3=y2+l3*sind(THETA3);

        %Plotting
               
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],[x2 x3],[y2 y3],'linewidth',3)
        axis([-2 2 -2 2])
        pause(0.0005)
        M(ct)=getframe;
        ct=ct+1;
        end    
    end
end

%Creating Movie
movie(M)
%Create a video file
videofile=VideoWriter('Forward_kinematics.avi','Uncompressed AVI');
% To open the videofile
open(videofile)
% To write the movie frame on videofile
writeVideo(videofile,M)
close(videofile)

Google Drive link

https://drive.google.com/file/d/1aoJ7Gm2fjRdcgRexuYeMNjsCGlw5MrIW/view?usp=sharing