Week 2- 2R Robotic Arm Challenge

Introduction:-

kinematics is the relationship between the position , velicity and accelerations of the links of a manipulator.

the forward kinematics is when the kinematical data are known the join coodinates .the variable of the end - effector in a given cartesian space are to computed.

robotic arms are machine that are programmed to execute a specific task or job quikly ,efficiency ,and extremely accurately motor drive they are often used for the rapid , consistent performance heavy or high repetitive procedure over extended period of time in the industries production, manufacturing, machining and assembly sector .

A robotic join provided relative motion b/w two links of the robot each join ,axis provid a certain degree of freedom(DOF) of motion, one degree of freedom is associated with each join. the robot complexity can be classified according to the total number of freedom of freedom of position

position

x = x2 = A1cos(theta1)+A2cos(theta1+theta2)

y = y2 = A1sin(theta1)+A2sin(theta1+theta2)

orientation

[cos(theta1+theta2) -sin(theta1+theta2)]

[sin (theta1+theta2) cos(theta1theta2)]

calculate the position for x2, x1

x1 = length of the first link arm*cos(angle of first arm link arm)

y2.y1 = length of the first arm*sin(angle of the first link arm)

the code:-

%forward kinematics of a 2R robotic arm

clear all

close all

clc

%inputs

%length of first arm(m)

11 = 1

%length of second arm(m)

12 = 0.5

% angle of the first arm

theta1 = linspace(0,90,10);

% angle of the second arm

theta2 = linspace(0,90,10)

% initiate the counter value

ct = 1;

for i = 1: length(theta1)

theta = theta1(i)

for j = 1 : length(theta2)

theta2 = theta2(j);

x0 = 0

y0 = 0

x1 = 11*cosd(thetaA1)

y1 = 11*sind(thetaA1)

x2 = x1 + 12*cosd(theta2)

y2 = y1 + 12*sind(thetaA2)

%plotting

plot([x0 x1], [y0 y1], [x1 x2], [y1 y2],'linewidth',3)

axis ([-0.1 1.5 0 1.5])

pause (0.03)

m(ct) = getframe(gcf);

ct=ct+1;

clear all = remove data from the workspace, freeing up system memory

close all = deletes the current figure or the specified figure

clc = clears all input and output from the command window display