Week 2- 2R Robotic Arm Challenge

2R ROBOTIC ARM CHALLENGE

AIM: A program to stimulate the forward kinematics of a 2r robotic arm

objective : step _wise explanation of code

create an animation file of the plot

robotic arm :

a robotic arm is a type of mechanical arm usually programmable with simillar functions to a human arm the arm may be the sum totally of the mechanism or may be the part of amore complex robot .the links of such a manipulator or connected by joints allowing ethier rotational motion or translation displacement.

1 length of links

length of link (l1) =1

length of link (l2) = 0.5

2 co_ordinates of xand y of link 1and2

x0 =0

y0 =0

(x1,y1) :

x1 =l1*cosd(theta1)

y1 =l1*sind(theta1)

(x2,y2) :

x2 = x1+l2*cosd(theta2)

y2 = y1+l2*sind(theta2)

% program for forward kinematics for 2r robotic arm manipulator

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);
  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(ct) = getframe(gcf);
  ct = ct+1;
    end
end

movie(m)
vidofile =videowriter('forward_kinematics.avi','uncompressed avi');
open(videofile)
writevideo(videofile,m)
close(videofile)