Week 2- 2R Robotic Arm Challenge

Report for the 2-D arm manipulator challenge

clear all= remove items from workspace free the system memory

close all= close running figures

clc= clears the command window

%Forward kinematics of a 2R Robotic Arm Manipulator

clear all
close all
clc

%Inputs
l1=1
l2=0.5

l1 shows the length of link 1

l2 shows the length of link 2

theta1 and theta2 are variables and shows the angles of the respective link

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

linspace command is used to generete linearly spaced vectors i.e the angles of the links in this case
ct=1;
for i=1:length(theta1)
THETA1=theta1(i);
for j=1:length(theta2)
THETA2=theta2(j);
x0=0;
y0=0;

for loop is used to repeat specified number of times and the loop is ended by the end command at the loop end where the loop has to end

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

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

%Plotting_graph

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

plot command is used to plot the desired graph output according to inputs

axis([-0.1 1.5 0 1.5])
pause(0.1)
M(ct)=getframe(gcf);
ct=ct+1;

axis command sets the axis limits of the plot

pause is used to stop the execution of the program temprorarily

getframe captures axes of the figures as moving frame

end

end;

movie(M)
videofile=VideoWriter('forward_kinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

movie play the recorded movie frame

videowrite is used to create objects to write in a video file

writevideo write the desired frames in a moving video

There were some error which i faced during the execution of the program link the following

theta1=linspace(0.90.10);

%Forward kinematics of a 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_graph

        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

        axis([-0.1 1.5 0 1.5])
        pause(0.1)
        M(ct)=getframe(gcf);
        ct=ct+1;

    end

end;

movie(M)
videofile=VideoWriter('forward_kinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

there i used a dot as a seperator in theta1 input so it was showing an error

So i connect to one of the support enginner with the help of 1 to 1 session on got the help

Here is the Google drive link below for the kinematics of the video

https://drive.google.com/file/d/1kRI0zf8OaUMJHGV-NLJMYA3jKJUWz1_m/view?usp=sharing