Week 2- 2R Robotic Arm Challenge
Program in Matlab to simulate the forward kinematics of a 2R Robotic Arm
%Input parameters
% l1=length of first link in robotic arm
%l2=length of second link of robotic arm
%theta1=angle made by base and link1 of robotic arm
%theta2=angle made by horrizondal axis in base of link 2 starts and the link2 of robotic arm
l1=4;
l2=3;
theta1=linspace(0,90,40);
theta2=linspace(0,90,40);
ct=1; % contour
%applying for loop to each value of theta1 and theta2
for i=1:length(theta1)
THETA1=theta1(i)
for j=1:length(theta2)
THETA2=theta2(j)
%the coordinates are
x0=0;
y0=0;
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);
x2=x1+l2*cosd(THETA2);
y2=y1+l2*sind(THETA2);
%plotting with the coordinates with a linewidth2
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',2)
axis([-0.1 8 -0.1 8])
pause(0.1)
m(ct)=getframe(gcf);
ct=ct+1
end
end
%to create a video filein AVI
movie(m)
videofile=videoWriter('forward kinematics of 2R robotic arm','un compressed AVI');
open(videofile)
writeVideo(videofile,m)
close(videofile)
% NOTE
I HAVE DONE THIS PROGRAM FOLLOWING THE AUTHORS VIDEO WITH MY OWN VALUES, NO ERRORS ARE DETECTED SINCE I HAVE DONE IT VERY CAREFULLY FOLLOWING THE AUTHOR, SO THE SCREENSHOT OF ERROR IN COMMAMD WINDOW IS NOT ATTACHING WITH THIS,SINCE I DOESN'T HAVE AN ERROR THOUGH
THE UPLOADED VIDEO IN YOUTUBE IS ATTACHING HERE : https://youtu.be/NO3Y984H67w