Week 2- 2R Robotic Arm Challenge

% program in matlab to simulate forward kinematics of a 2R robotic arm

% creating an animation file of the plot

% inputs

l1=1

l2=0.5

theta1=linspace(0,90,10)

theta2=linspace(0,90,10)

ct=1

for i=1:length(theta1)

THETA1=theta1(i)

for j=1:length(theta2)

THETA2=theta2(j)

% coordinates

x0=0

y0=0

x1=l1*cosd(THETA1)

y1=l1*sind(THETA1)

x2=x1+l2*cosd(THETA2)

y2=y1+l2*sind(THETA2)

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

axis([-0.1 0.5 0 1.5])

pause(0.03)

ct=ct+1

end

end

Explanation: Simulation of the forward kinematics of a 2R robotic arm is done with the help of Matlab. The program is started by giving the inputs l1 and l2 followed by theta1 and theta2 respectively, then give the value for 'ct'. After this the 'for' loop begins by giving data for 'i' and 'j' respectively, the the coordinates are given such as x0, y0, x1, y1, x2 and y2. The last step is to plot and it is done by giving the plot data, axis data, pause timing data and 'ct' data. At last do not forget to put 'end' for each 'for' loop started.