Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

%inputs
l1=1; %length of first link of the arm
l2=0.5; % length of second link of arm

%theta
theta1=linspace(0,90,10);
theta2=linspace(0,180,10);

n=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(n)=getframe(gcf);
n=n+1;

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

CONCUSSION:-

1. After generation animation by examine closely we can understand the workspace of the Robotic arm which is our purpose.

2. By a changing length and angle of the link different combinations are Possible, plotting graphs for all those different combinations Robot design can be done.