Week 2- 2R Robotic Arm Challenge

TITLE:-FORWARD KINEMATIC 2R ROBOTIC ARM

AIM-To calculate position of robotic arm for different angle

PROGRAMME

%Forward_kinematic 2R robotic arm

clear all

close all

clc

%Input

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,80,5);

theta2 = linspace(0,80,5);

ct = 1

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

%co-ordinate

x0 = 0;

y0 = 0;

x1 = l1*cosd(THETA1);

y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);

y2 = y1 + l2*sind(THETA2);

%plottong

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);

axis(-0.1 1.5 -0.1 1.5)];

pause(0.3);

M(ct) = getframe(gcf);

ct = ct+1;

end

end

movie(M)

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

open(videofile);

WriteVideo(videofile,M);

close(videofile)

then run this program result will be animated video file for two arm robotic positional plot

Programme description

We are starting programme with programme statement-

e.g %Forward_kinematic 2R robotic arm

then with

clear all

close all

clc

Let say arm 1 has length l1 of 1meter & other arm has length l2 of 0.5 meter

We have 5 angles for both arms

Θ1=0° , 20°, 40°, 60° & 80° for that we have used linspace command for this range of 0 degree to 80 degree with 5 interval between

Same for θ2 = 0° , 20°, 40°, 60° & 80°

theta1 = linspace(0,80,5);

theta2 = (linspace(0,80,5);

ct = 1 (which is contour)

For this array of different angles we have used ‘for’ loop command

Here, we have two arms with two different angles we are using 2 for loops as below

For i = 1:length(theta1)

THETA1 = theta1(i);

For j = 1:length(theta2)

THETA2 = theta2(j);

Arm Positions with co-ordinates- inputs

x0 = 0 , y0 = 0

x1, y1 are the end of 1^st link & start of 2^nd link

Where as, x2, y2 is end of 2^nd link

Thus with trigonometry we have equations for arm positions

x1 = l1*cosd(THETA1);

y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);

y2 = y1 + l2*sind(THETA2);

%plotting-in this section we are giving input to programme i.e what to plot in plot command

So, plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],’linewidth’,3);

Axis range values mentioned in programme code

So, axis([-0.1 1,5 0 1.5])

Pause(0.03) which is tie interval between each plot while performing animation

To create animation for number of plots(figures) we are using below command

M(ct) = getframe(gcf); (gcf is get current frame)

Ct = ct+1;

End

End

ERRORS & IT'S OVERCOME ACTIONS

1. Filename was wrong-corrected & saved as new programme with new name to run the programme
2. Axis scale given in single colon-colon removed within the brackets
3. Axis scale bracket missing-corrected by providing square bracket
4. While creating animation with M(ct)command getframe(gcf) was written as

M(ct) = ct+1

Corrected as M(ct) = getframe(gcf);

errors screenshots attached as per it's error number

please check belowlink foranimation video

https://1drv.ms/v/s!ApWbfqb7PQOJjQ85_bLR_1E188EN?e=dxpkA0

Thanks