Week 2- 2R Robotic Arm Challenge

Aim : To create animation of 2R Robot Kinematics

Tool used : MATLAB

MATLAB CODE:-

% 2R Robotic Arm Challenge (Forward kinematics)

clear all
close all
clc

%Inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

%Defining Loops

ct=1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
    THETA2 = theta2(j);
    x0 = 0; % Coordinates
    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(ct) = getframe(gcf);
    ct=ct+1;
    end
end

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