Week 2- 2R Robotic Arm Challenge

AIM: To SIMULATE THE 'FORWARD KINEMATICS' OF A ROBOTIC ARM USING MATLAB.

OBJECTIVE:

• Write a program to simulate forward kinamatics of a 2R Robotic Arm.
• Animating and creating a movie from the plots obatined from the program.

THEORY: A mainpulator/end effector movement determines the workspace where the robotic arm can be applicable.Our motive is to animate the movement of robotic arm with the subsequent relative motion between the two-comprising links.

INPUTS:

(x0,y0) = starting point of link1

(x1,y1) = end ponit of link1/starting point of link 2

(x2,y2) = end point of link 2

l1 = length of link attached to the base

l2 = length of link between the first link and the end effector

theta1 = angle made by link 1 with x-axis

theta2 = angle made by link 2 with x-axis

PROGRAM:

%forward_kinamatics_for_robotic_arm_animation
clear all
close all
clc

%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);
        x0 = 0
        y0 = 0

        x1 = x0 + l1*cosd(THETA1);
        y1 = y0 + 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_for_2R_robotic_arm_animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

EXPLANATION OF PROGRAM:

• Initially we define the length of the robotic arms,i.e. I1 and
• Set of values for theta1 and theta2 are assigned in and array with linspace command.
• Use of for command for iterating the values of the desired variable.
• Again using for command for providing movement to the second robotic arm.
• Defining the coordinates of both the robotic arms.
• Plotting all the coordinate values and writting commands for changing the appearance of the contours.
• All figures are assigned to a variable M, one at a time using ct followed by termination of for loop.
• Lastly,movie command is used to combain all the figures saved in the M file to make an animation/movie and thereafter saving it in .aviformat.

ANIMATION: The Link for the animation has been menitoned below.

https://youtu.be/EqfOzrJpqWM

Errors faced while programming :-

movie(M)
videofile = VideoWriter('forward_kinematics_for_2R_robotic_arm_animation.avi','Uncompressed_AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

In this code at last i have accidentally typed that 'Uncompressed_AVI' instead of 'Uncompressed AVI' then i did not get the code final video report

CONCLUSION:

A parctial scenario regarding the functioning of thr robotic arm and its workspace has been experienced by simulating the forward kinamatics with a program in MATLAB.