Week 2- 2R Robotic Arm Challenge

Finding the position of manipulator

FORWARDKINEMATICS

Angle of two links with respect to x axis θ1 and θ2,

The required links are l1 and l2 ,

1. Programming forward kinematics of 2R robotics arm manipulator.

% Forwards kinematics of 2Rrobotics arm manipulator.

clear all

close all

clc

INPUTS

l1 = 1,

l2 = 0.5,

theta1 = linspace(0,90,4);

theta2 = linspaqce(0,90,4);

% 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','5')

axis([0 1.5, 0 1.5])

pause(0.1)

ct = ct+1;

end

end

CONCLUSION:

the position of 2r robotics arm changes of link1 and link2 with respect to x axis multiple times.

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