Week 2- 2R Robotic Arm Challenge

AIM - Write a program In Matlab to simulate the forward kinematics of 2R robotic arm.

OBJECTIVE-

:- To explain the code in a chronological order.

:- To represent the result in an animation format.

ROBOTIC ARM- These are the machines which are programmable to perform a specific task.

PRINCIPLE:-

• 1. Length of the links
• Length of link(l1)=1
• Length of link(l20=0.5

2. Coordinates X&Y of link 1&2

(X0 Y0)

The initial point of the link 1 is fixed at the origin so, the initial point of link 1cannot move therefore the value of X&Y will be 0

(X1 Y1)

The final point of the link 1 is the initial point of link 2. The length link 1 is l1 and the angle between the origin and link 1 is represented by an angle theta1

Equation- X1=l1*cosd(theta1) , Y1=l1*sind(theta1)

(X2 Y2)

This is the final point link 2. The angle between link 1 & link 2 is denoted by theta2 then the equation of x&y will be

X2=X1+l2*cosd(theta2)

Y2=Y1+l2*sind(theta2)

3. For loop statement:- this statement is used to move the robotic arm continuously

%% for loop

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

4. Axis command - this command is used to fix the axisby changing the XandY points.

axis([-0.1 2 -0.25 2])

5. Movie command- this command is used to represent the result in an animation format.

%movie

movie(M)

videofile = VideoWriter('forward kinematics of 2R robotic arm','Uncompressed AVI')

open(videofile% )

writeVideo(videofile,M)

close(videofile)

CODE:-

% forward kinematics of 2R robotic arm

close all
clear all
clc

%% inputs
l1 = 1; 
l2 = 0.5; 

theta1 = linspace (0,90,10);
theta2 = linspace(0,90,10);

ct=1;
%% for loop
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);

        % cordinates

        x0 = 0;
        y0 = 0;

        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);

        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);


        % plotting

figure(1)
        plot ([x0 x1],[y0 y1],[x1 x2],[y1 y2], 'linewidth',2)
        grid on
       axis([-0.1 2 -0.1 2])
        M(ct)=getframe(gcf)
        ct=ct+1
    end
end

%movie
movie(M)
videofile = VideoWriter('forward kinematics of 2R robotic arm','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

ERRORS FACED WHILE COMPILING THE PROGRAM:-

STEPS TAKEN TO OVERCOME THE ERRORS:

1- the program was crosschecked many times and each bug was dubgged in a chronological order.

RESULTS:-

https://youtu.be/X3sDyfLXo-I