Week 2- 2R Robotic Arm Challenge
To simulate the forward kinematics of robotic arm.
Explanations of the code:
clear all
close all
clc
%input of arms
l1 = 1;
l2 = 0.6;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
ct=1;
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = i: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])
axis([-0.1 1.5 0 1.5])
pause(0.03)
M(ct) = getframe(gcf);
ct = ct+1;
end
end
movie(M)
videofile = VideoWrite('roboticarm.avi')
open(videofile)
writeVideo(videofile,M)
close(videofile)
l1 and l2 are the length of the lins ie arms Iand 2 respectively.
theta 1 and theta2 are the angles made with the horizontal.
The theta value has a range of 0 to 90.
THe for loop is for the control of the values of the arm.
The graph is plotted with the command "getframe(gcf)" , this command is used to insert the second loop.
The writevideo comand is used to store the the frames from the array