Week 2- 2R Robotic Arm Challenge

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

Objective :

• Write a program to simulate forward kinematics of a 2R Robotic Arm

• To create a Movie/Animation from the plots obtained from the program

Theory:

-A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear)

displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hamd.

-In this project, we consider a 2R robotic arm. A 2R robotic arm represents a robotic arm with two rotations. i.e. it has two links which rotate or work over a two-dimensional plane with each of links having a single degree of freedom.

-Also, both the links are restricted to a 90° rotation with respect to the axes. Fig below shows the 2R robotic arm having many parts as described

• Let, L1 & L2 be the lengths of the link-1 & link-2 Respectively.

• Let,...be the angle formed by link-1 with

horizontal. • Let,.. be the angle formed by link-2 with

horizontal.

• Let, the starting and end co-ordinates of link-1 to be (xo, Yo) and (x₁, y₁)

• Let, the starting and end co-ordinates of link-2 to be (x₁, y₁) and (x2, Y₂)

Code Explanation :

• Programing Language used Matlab Online

• starting the program by using comments Providing the input variables like

• Predefining the length/values of the robotic arms, i.e. Iland 12

• Providing the values for theta-1 & theta-2 using linspace command for theta=0 to 90

• degrees for 12 values Providing the Cr (compression ratio) value as a specific digit.

• Now Using 'for' commandfor iterating the values of the desired variable.

• Again using 'for' commandfor providing movement to the second robotic arm.

• Providing the eqn for the xl,yl,x2,y2 or say Defining the coordinates of both the robotic arms.

• Plotting all the coordinate values and providing the axis no.

• Using the pause command to make the plot look realistic

• Incrementing the cr or compression ratio value by +1 each time it executes for loop.

• All figures are assigned to a variable M, one at a time usingcr Ending the 'for' loop twice.

• using movie commandis to combine all the figures saved in the M file to make an animation/movie

• At end saving the movie in .avi format.

Result/Conclusion :- Thus we have simulated

2R robotic arm by using the matlab programming and also created a Movie/Animation from the plots obtained from the program

- below is the link given for the program output for movie/animation of a 2R robotic arm