2R Robotic Arm Challenge

AIM: Write a program to simulate the forward kinematics of 2R Robotic arm in Matlab.

OBJECTIVE:

* Simulating a 2R robotic arm and understand its movement.

*Creating a animation of working and movement of a manipulator.

ROBOTIC ARM:A robotic arm can be any of a number of mechanical, programmable devices that are designed to manipulate objects in a way that is similar to the human arm. The robotic arm is one of the most useful pieces of technology to be introduced in the 20th century, and quickly became a cornerstone in many areas of manufacturing. It can be used for many different jobs and functions that may be too tedious, difficult or dangerous for a human to do. You might first think of the automobile industry when thinking about robotic arms, but they can be used for many other useful tasks besides welding and painting auto parts.

CODE:

% Forward kinematics of 2R robotic arm manipulator

clear all

close all

clc

%inputs

%length of first and second link of robotic arm

l1=1;

l2=0.5;

%angle between first and second link

theta1=linspace(0,90,10);

theta2=linspace(0,180,10); %linspace command used for 20 values between 0 to 90 and 0 to 180

n=1; %n is counter which is initialised on 1

for i=1:length(theta1); %length(theta1) is all the 20 value of theta1

THETA1=theta1(i); %THETA1 is a variable it contains one value

for j=1:length(theta2);

THETA2=theta2(j); % THEAT2 is same like THETA1

x0=0;% x0 and y0 is first cordinate of link1

y0=0;

x1=l1*cosd(THETA1);% x1 and x2 is ending cordinate of link1 and starting of link2

y1=l1*sind(THETA1);% d is used for get value of degree

x2=x1+l2*cosd(THETA2); %x2 and y2 is ending cordinates of second link2

y2=y1+l2*sind(THETA2);

%plotting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3); % plot coomand for plotting

axis([-0.5 1.5 0 1.5]); %axis is command to set for[xmin xmax ymin ymax]

title('Plot of 2R Robotic arm manipulator');%to set title on the plot

xlabel('bf x axis');

ylabel('bf y axis');%bf is for bold face

legend('sine','cosine');% For set legend on plot

pause(0.03);

M(n)=getframe(gcf); %M is array getframe is current axes as a movie frame

n=n+1;% for counter increment

end

end

movie(M) %movie is for generate a movie of a MATLAB program

v=VideoWriter('forward_kinematics_robotic_arm');% videowriter is for create a video

open(v) %open the frame which is v

writeVideo(v,M)% for capture the frame

close(v) %for close the video

CODE EXPLANATION:

1.First of all we will start from clear all close all clc.

2.After that we will give the input of theta1 and theta 2 and l1 and l2.

3.To move the link of robotic arm continously we will use the for loop.

4.Then after plot the program using plot command.

5.axis command is used for set the axis range.

6.Using Pause command to maintain the moving speed of a robotic arm.

7.using movie command creating animation of robotic arm.

ERRORS: No major error occures.

RESULTS:

*Video link on you tube-https://youtu.be/IVfBwGU8154