Week 2- 2R Robotic Arm Challenge

Aim of the project:

To write a program in matlab to simulate the forward kinematics of a 2R Robotic arm.

Introduction:

Kinematics is the relationships between the positions, velocities and accelerations of the links of a manipulator.

solutions:

X2 = X1+l2* cosd(A2)

Y2 = Y1+l2* sind(A2)

%foward kinematics of a 2R robotic arm manipulator

clear all
close all
clc

%inputs
l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

ct=1;

%coordinates
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);

%plotting
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3,'color','r')
axis([-0.1 1.5 0 1.5])
pause(0.03)
m(ct)=getframe(gcf);
ct=ct+1;
end
end
movie(m)
videofile=VideoWriter('forward_kinematics.avi');
open(videofile)
writeVideo(videofile,m)
close(videofile)

Output:The simulation of the robotic arm is coded successfully as shown below.

https://drive.google.com/file/d/1ZMaxcpY3HE2_aGuJWU3VZ7rMajVkXwlK/view?usp=sharing

Conclusion: Thus , the program for a 2R robotic arm forward kinematics was coded and the position of end-effector was simulated in MATLAB plot as a video.