Week 2- 2R Robotic Arm Challenge

AIM- write a program in MATLAB to simulate the forward kinemitcs of a 2R Robotic arm.

THETA1=THETA2

solution

[x0,y0]

[x1,y1]

x2,y2]

x2=x1+l2cos(theta2)

y2=y1+l2sin(theta2)

clear all
close all
clc

%forward kinematics of a 2R robotic arm manipulator

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

%coordinates
ct=1;
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)
     axis([-0.1 1.5 0 1.5])
     pause(0.03)
     M(cd)=getframe(gcf);
     ct=ct+1;
    end
end
movie (M)
videofile=VideoWriter('forward_kinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,m)
close(videofile)