Week 2- 2R Robotic Arm Challenge

AIM : to simulator the forward kinematics of a 2r robotic arm using

introduction: a manipulator/end effector movement determine the workspace where the robotic arm can be appilicable. our motive is to animate the movement of the robotic arm with the subsequent relative motion between the two -comprising links

forward kinematics

if theta1 and theta2 given

step1: calculate the parlier of link1

objective

1) write a program to simulator forward kinematics of a 2r robotic arm

2)animating and creating a movie from the plots/figures obtained from the program

inputs

(x0,y0) = starting points of link 1

(x1,y1)= endpoint of link/ starting point of link 2

(x2,y2)= endpoint of link 2

1=length of the link attahed to the base

2=length of the link between the first link and the end effector

theta1=angle made by link 1 with x-axis

theta2= angle by link 2withx-axis

progeam:

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

https://youtu.be/0FrmryeeV0Q

conclusion : a practical scenarion regarding the functioning of the robotic arm and its wrokspace has been experienced by simulating the forward kinematics with a program