Week 2- 2R Robotic Arm Challenge

Aim: Writing a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video.

Governing Equatutions:

`x_1=l_1*cosd(theta_1)`

`y_1= l_1*sind(theta_1)`

`x_2= x_1+l_2*cosd(theta_2)`

`y_2= y_1+l_2*sind(theta_2)`

Objective:

The objective of this challenge is to write a program to simulate the forward kinematics of a 2R robotic arm usimg Matlab, and create a movie of the simulation using Matlab.

Body:

Part 1: Program

% Forward Kinematics
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);

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([-0.1 1.8 0 1.8])
pause(0.03)
M(ct)= getframe(gcf);
ct=ct+1;
    end
end
movie(M)
videofile= VideoWriter('for_kin.avi','Uncompressed AVI');
open(videofile)
writeVideo( videofile , M )
close(videofile)

Part 2: Output

Part 3: Explanation

While wriring the program I faced the following error,

Then I tried to give spaces between 'videofile' and 'M', still it didnot work, then i tried to use brackets instead of parenthesis, it still did not work, atlast I rewritten the whole program, but still nothing changed.

Later i watched the video again and got to know about '=' sign error, which I changed and executed the program successfully.

Conclusion:

• The program for the simulation of the forward kinematics of a 2R Robotic Arm is written in MatLab.
• Video for the simulation is uploaded via google drive.