Challenge

Week 2- 2R Robotic Arm Challenge

NNavdeep Mahanto13 Mar 2022

Aim : Forward kinematics of 2R robotic arm

Objective:

Write a program to simulate forward kinematics of a 2R robotic arm.
Animation and creating a movie

Introduction : A manipulator end effector movement determine the workspace where the robotic arm can be applicable.

(x0 y0 ) - starting points of link one

(x1 y1) - end point of link 1 and starting point of link 2

(x2 y2 ) - end point of link two

L1 - length of link one which is attached to base

L2 - length of link two which is attached to link one

theta1- angle made by link one

theta2 - angle made by link 2

Program:

%Forward kinematic of 2R robotic arm

Clear all

close all

clc

%length of robotic arm

L1 = 1;

L2 = 0.5;

% set ofangle

Theta1 = linespace(0, 90, 10);

Theta2 = linespace(0, 90, 10);

ct=1;

for i = 1:length (theta1)

Theta1 = theta(i);

for j = 1:length(theta2)

Theta2 = theta2(j)

%coordinates of start point of i

x0 = 0;

y0 = 0;

%cordinates of end point 1

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

movie(M)

videofile = Videowriter('forward_kinemaatics . avi',Uncompressed AVI')

open(videofile)

writevideo(videofile,M)

close(videofile)

Explanation Of Program:

Starting the program with close all, clear all, clc command
setting a values for theta 1 and theta 2 with linespace command o create array
plotting all the coordinates values with a linewidth command
All the figures are assign to variable M and using ct followed by termintor of loop
Movie comand is used to create and animation of all the figure which combine different movement
.avi format is used to save movie