Challenge

Week 2- 2R Robotic Arm Challenge

NNachiketha Gummalampati27 Mar 2022

MATLAB

Forward kinamatics of robotic arm

AIM:- Simulate forward kinamatics of 2R robotic arm

Inputs:-

(xo yo) -co ordinates of origen

(x1 y1)- end co ordinates of link one

(x2 y2)-end co ordinates of link two

l1-lenght of link one (l1)

l2-length of link two (l2)

theta1-angle between the base and link one

theta2-angle between the link one and link two

EXPLINATION:-

clear all- used for clear all the data stored in previous workspace

close all- used for colse the all the figures and plots of before program

clc-use for clear the command window

l1-length of link 1

l2-length of link 2

theta1-angle between the basde and link1, (range of values 0 to 360)

theta2-angle between the link1 and link2,(range of values 0 to 120)

limspace-this commmand is used for providing equal gap points with in the range

for loop- used for caliculating the x,y co ordinates link 1 , link 2, as the theta1 and theta2 are the arraysand having the maltiple values of theta with x axis. then we need an other variable to store only one value at atime. So the we can get the set of values of x and y that are different thats why we introduse two variables called as THETA1, THETA2.

(xo yo) -co ordinates of origen

(x1 y1)- end co ordinates of link one and staring co ordinates of link two

(x2 y2)-end co ordinates of link two

plot -command is used for plotting the all the co ordinaters of x and y with some specifications like linewidth and color

pause- command is used of paussing the program for certain time before prossesing the new set of values

for creating a movie of the result a counter variable is itroduced before the first for loop as "ct"

m-for capture the current frame for every time untill the for loop ends

ct+1- used for increment of frame addend to the variable "ct"

movie(M)-used for cteating a movie of M

VideoWriter-command is used for write the videofile int formate of .avi

open(videofile)-is used of open that videofile

Writevideo-used for write the video file with plot frames

close(videofile)-used for clos the video file

for running the program we can use start and run option of simole press the F5

CODE:-

close all

clear all

clc

l1=0.5;

l2=1;

theta1 = linspace(0,360,15);

theta2 = linspace(0,120,15); % for set of values we use linspace command

ct=1;

for i=1:length(theta1) %i=1;length(theta1) means i values changes from 1 to 360, lenth of theta1=15

THETA1=theta1(i);

for j=1:length(theta2) % same as theta1

THETA2=theta2(j);

x0=0; %(x0 yo) and (x1 y1) coordinates of link1 (l1)

y0=0;

x1=l1*cosd(THETA1);

y1=l1*sind(THETA1);

x2=x1+l2*cosd(THETA2); %(x1 y1) and (x2 y2) coordinate of (l2)

y2=y1+l2*sind(THETA2);

hold on

plot([x0 x1],[y0 y1],'linewidth',9,'color','k') % ploting of first link

plot([x1 x2],[y1 y2],'linewidth',3,'color','b') %ploting of second link

xlabel('x-axis')

ylabel('y-axis')

pause(0.03)

title('Two R robotic arm')

legend('link1','link2')

M(ct)=getframe(gcf); %creating the frames of array we called it as M

ct=ct+1; %Increasing the counter one by one

end

movie(M) % creating the movie of M

videofile=VideoWriter('twoR_robotic.avi','Uncompressed AVI'); %creating the video file in the fomate of avi

open(videofile) % open the video file

writeVideo(videofile,M) % Write the video file of M

close(videofile) % and finally close the video file

ERRIRS:-

i am getting an error when i was entering into the for loop, i'm went next line thats why i'm getting error

Solution: taking the i value from 10th line to 9th line, and enter space inbitween for loop and i value

2. I'm getting error in side the VideoWriter command

Solution: By entering the correct form of file name in .avi file formate i resolve this error

RESULT:-

Hence the simulation of forward kinematic motion of 2R robitic arm was done

crated the animation of forward kinematic motion of 2R robitic arm

TOU TUBE LINK:-

https://youtu.be/Q6pGI4uengo

GOOGLE DRIVE LINK:-

https://drive.google.com/file/d/1B3st4qNbt4QRySahp3jDtJISrIM2RPie/view?usp=sharing

Week 2- 2R Robotic Arm Challenge

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.