Week 2- 2R Robotic Arm Challenge

AIM:
To write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

Kinematics is the relationship between the position,velocities and acceleration of the links of a manipulators.
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm.





Code for 2R robotic arm is execueted

%Forward kinematics of 2R robotic arm
close all
clear all
clc

%inputs
l1=1
l2=0.5

thetha1=45
thetha2=30

% coordinates
x0=0
y0=0
x1=l1*cosd(45)
y1=l1*sind(45)
x2=x1+l2*cosd(30)
y2=y1+l2*sind(30)

%plotting
line([x0,x1],[y0,y1],'linewidth',3,'color','r')
line([x1,x2],[y1,y2],'linewidth',3,'color','b')

Then to plot the animation the code is written

close all
clear all
clc

%inputs
l1=1
l2=0.5
thetha1=linspace(0,90,10)
thetha2=linspace(0,90,10)

%for loop
ct=1
for i=1:length(thetha1)
    THETHA1= thetha1(i)
    for j=1:length(thetha2)
        THETHA2= thetha2(j)
        % coordinates
        x0=0
        y0=0
        x1=l1*cosd(THETHA1)
        y1=l1*sind(THETHA1)
        x2=x1+l2*cosd(THETHA2)
        y2=y1+l2*sind(THETHA2)
        
        %plotting
        plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3,'color','r')
        grid on
        axis([0 2 0 2])
       
        
        pause(0.03)
        
        M(ct)= getframe(gcf)
        ct=ct+1
       

    end
    
end

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

CODE EXPLANATION:

Before starting,

clear all, is used for removing data from the workspace

close all, is used for removing the current fig.

clc, is used for removing data from command section

then the length of arm 1 and 2 were defined.

then by using linspace command thetha 1 and 2 is defined. The purpose of linspace command is to generate lineraly spaced vectors.

then the next step is to use counter. counter is a variable that counts an event in loop and For loop is created. 'ct' refers to counter.

thetha 1 and 2 contains multiple values of the angle, so a new variable is placed inside the loop named THETHA 1 and 2.

THETHA1, is denoted by (i)

THETHA2, is denoted by (j)

then hence calculation is done

the M command is used to capture the current frame everytime when loop runs.

The VideoWriter command was used to assign the video format and .avi was used as video format.

ERRORS FACED WHILE WORKING

There was an expression error for me. I started writing the the code below 'for'

There were several typing errors also.

VIDEO

https://www.youtube.com/watch?v=YRNh7l38K-o