Week 2- 2R Robotic Arm Challenge

AIM

%inputs parameters like length of linls and different angle positions 
L1 = 1; % length of link 1
L2 = 2; % length of link 2
theta1 = linspace(0,90,35);
theta2 = linspace(0,90,35);
ct = 1;
%for every angle of theta1 there will be 10 respective angles of theta2, this can be achived by for loop function
for i = 1:length(theta1)
    THETA1 = theta1(i);
   for j = 1:length(theta2)
       THETA2 = theta2(j);
       
       % coordinatespoints of links at starting and ending positions

       x0 = 0;
       y0 = 0;


       x1 = L1*cosd(THETA1);
       y1 = L1*sind(THETA1);


       x2 = x1 + L2*cosd(THETA2);
       y2 = y1 + L2*sind(THETA2);


       %plotting

       plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',3)
       grid on
       axis([-0.1, 1.5, 0, 1.5]);
       pause(0.1)
       m(ct) = getframe(gcf);
       ct = ct+1;
    end
end

%movie generation code
movie(m)
videofile = VideoWriter('forward_kinematic.avi','uncompressed AVI');
open("videofile")
writeVideo(videofile,m)
close(videofile)

: Finding possible location that a robot arm/end effector can move in workspace/work envelope of 2R robotic arm

THEORY :

FORWARD KINEMATICS = It is a process of obtaining position and velocity of end effector, given the known joints angles (theta1,theta2) and velocities .

Here we are find coordinates of end effector of 2R(rotating) robot arm.

It has two links link1, link2

Steps to be followed to find the coordinates of end effector

1. Calculate position of link1,coordinate of link1 starting point is (0,0) = (x0, y0) and coordinate point of end of link 1 (x1,y1) = (L1cos(theta1), L2sine(theta2))
2. similarly coordinate points of link two i.e starting point of link 2 (x1, y1) = (L1cos(theta1), L2sine(theta2)) and ending point (x1 + L2cos(theta2), y1 + L2sin(theta2))

TOTAL 3 coordinate points