Week 2- 2R Robotic Arm Challenge

Youtube Link for animation

https://youtu.be/36vEpdLh0R8

REPORT--

STEPS

1. Initializing the arm length and inclination angles.
   l1=1; % length of arm 1

   l2=0.5; % length of arm 2

   theta1=linspace(0,90,10); % inlcnation values of arm1

   theta2=linspace(0,90,10);
2. CT- Used for image reconstruction.
3. using for loop end coordinates are calculated for every angle.
   for i =1:length(theta1) %{loop for plotting of arm 1 and 2

   a=theta1(i); %{ for every change in arm1 and arm2 inclination

   for j=1:length(theta2)

   b=theta2(j); % a= angle of inclination of arm1 and b=angle of inclination of arm2

   x=0; % fixed end coordinates

   y=0;

   x1=l1*cosd(a); %end x coordinates of arm1

   y1=l1*sind(a); %end y coordintes of arm1

   x2=l1+l2*cosd(b); %end x coordinates of arm2

   y2=l1+l2*sind(b); %end y coordintes of arm2
4. plotting is done using plot instead of line command.
   plot([x x1],[y,y1],[x1 x2],[y1 y2],LineWidth=1.5)

   axis([0 2 0 2])

   xlabel('horizontal reach---------->')

   ylabel('verticl reach----------->')
5. animation is created by using CT and Pause.

   
   
   close all
   clear all
   clc
   
   l1=1;                                  % length of arm 1
   l2=0.5;                                % length of arm 2
   theta1=linspace(0,90,10);              % inlcnation values of arm1
   theta2=linspace(0,90,10);              %inlcnation values of arm2
   tic
   ct=1
   for i =1:length(theta1)       %{loop for plotting of arm 1 and 2
       a=theta1(i);              %{ for every change in arm1 and arm2 inclination
       for j=1:length(theta2)
           b=theta2(j);          % a= angle of inclination of arm1 and b=angle of inclination of arm2  
   
           x=0;              % fixed end coordinates
           y=0;
   
           x1=l1*cosd(a);    %end x coordinates of arm1
           y1=l1*sind(a);    %end y coordintes of arm1
   
           x2=l1+l2*cosd(b); %end x coordinates of arm2
           y2=l1+l2*sind(b); %end y coordintes of arm2
   
           %plotting...........
           plot([x x1],[y,y1],[x1 x2],[y1 y2],LineWidth=1.5)
           axis([0 2 0 2])
           xlabel('horizontal reach---------->')
           ylabel('verticl reach----------->')
           
   
           %providing the pause for plotting
           pause(0.1)
           M(ct)=getframe(gcf)
           ct = ct+1
       end
   end
   duration=toc
   movie(M) 
   videofile=VideoWriter('forwrd kinematic robotic arm')  %creating a video file
   open(videofile)
   writeVideo(videofile,M)
   close(videofile)
   

6. Video file is created.

ERRORS--

1. Error occurred due to dot operator.
2. Error due to the wrong syntax in pause.
3. Unable to create animation using the lines.

Steps were taken to solve the error--

1. Dot operator is removed.
2. Syntax error in the pause is solved using parenthesis.
3. Animation is created by using a plot instead of a line.