Challenge

Week 2- 2R Robotic Arm Challenge

MATLAB PROGRAM:

% A Matlab program to simulate the forward kinematics of a 2R robotic arm and to visualize the arm motion.

clear all
close all
clc

% Inputs for the Program:
%length of Link 1 in meters (L1):
L1 = 1;
%length of Link 2 in meters (L2):
L2 = 0.25;

% Angle made by Link 1 with vertical axis in degree is Theta_1
Theta_1 = linspace (0,90,15);

% Angle made by Link 2 in degree is Theta_2
Theta_2 = linspace (0,90,25);

ct = 1;

% Tracing the movement of link 1 and link 2 by iterating the value of Theta_1 and Theta_2, respectively.

for i = 1: length (Theta_1)
THETA_1 = Theta_1 (i);
for j = 1: length (Theta_2)
THETA_2 = Theta_2(j);

% Suppose the initial points for link 1 is (x0,y0).
x0 = 0;
y0 = 0;

% Calculating end points of link 1.
x1 = x0+L1*cosd(THETA_1);
y1 = y0+L1*sind(THETA_1);

% Calculating end points of link 2.
% End points for link 1 is starting point for link 2.

x2 = x1+L2*cosd(THETA_2);
y2 = y1+L2*sind(THETA_2);

% Ploting Robotic arm movement.

plot ([x0 x1],[y0 y1],[x1 x2],[y1 y2], 'LineWidth',3,'Color','b')
axis ([-0.1 1.5 0 1.5])

% Giving pause to the plot preview when shifting from one plot to another plot

pause (0.03)

% Storing Plot.

M(ct) = getframe (gcf);

% Increment in ct will help to create plot with multiple angles of link 1 and link 2 which will store in M.

ct = ct+1;
end
end

% Making movie combining simulated results.

movie(M)

% Making a video file of movie created in .avi format.

videofile = VideoWriter ('forward_kinematics_robotic_arm.avi','Uncompressed AVI');
open(videofile)

% Adding video to the video file created above.
writeVideo(videofile, M)
close (videofile)

ERROR FACED:

Figure 1: Error in Function Assigned.

The solution to Error:

Basically, it was typing error where I have typed Theta instead of Theta_1 and was rectified by using the proper function.

Video file link:

Ship work like this
in your own course.