Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

%inputs

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

ct = 1

for i = 1 : length(theta1)

THETA1 = theta1(i);

for j = 1 : length(theta2)

THETA2 = theta2(j);

L1 = 1;

L2 = 0.5;

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)

axis([-0.1 1.5 0 1.5])

M(ct)= getframe(gcf)

ct = ct+1

end

end

movie(M)

videofile = VideoWriter('forward kinematics.avi');

open(videofile)

writeVideo(videofile, M)

close(videofile)

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Program Report :

i. First start with clear all, close all, clc.

ii. Second give the input commands L1, L2 ,theta1&2 , while creating a movie the values of theta should be in a linspace command so that multiple values can be taken.

iii. Next start a for loop for theta 1 as i and agin start a for loop for theta2 as j.

iv. Now calculate the values of the co_ordinates x0, y0, x1, y1 ,x2, y2, by using cos and sin theta.

v. After that plot the co_ordinates along with the axis and the frame command and then end the for loop.

vi. Now type the commands to create a animation of the kinematics of the robotic arm and save the file as movie.

vii. At last run the program so that we can able to see a animated movie of the kinematics of the robotic arm was created.