Week 2- 2R Robotic Arm Challenge

%programe for forward kinematics 2R robotic arm

%Inputs

l1=1;

l2=0.5;

%angles of links

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)

% x and y coordinates of link 1

x0=0;

y0=0;

x1=l1*cosd(THETA1);

y1=l1*sind(THETA1);

% x and y coordinates of link 2

x2=x1+l2*cosd(THETA2);

y2=y1+l2*sind(THETA2);

%Plotting of graph

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

axis([-0.1 1.5 0 1.5])

pause(0.01)

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)

Explanation:-

Length of link1 is l1= 1m

Length of link2 is l2=0.5m

Theta1 is angle ranges from 0 to 90 degree

Here linspace command used here to generate linear vector

Theta2 is angle ranges from 0 to 90 in interval of 10

Initialise the counter command using ct.

Using for loop we can operate robotic arm.

Value of 'i' is going to change from 1 to length of theata1 and value of 'j' will change from 1 to length of theata 2

loop counter variables are use to aess perticular value.

After that we will plot coordinates for x and y ([x0 x1],[y0 y1],[x1 x2],[y1 y2])

Pause command use to control speed of animation.

M(ct) is function use to get frame.

Using movie command to create movie.

Animation:

https://youtu.be/WkiKEAApDNk

Errors :-

1) Undefined function for input

Corrective action- Spelling correction of theta1

2) No Error shows in command window , but graph not correct

Corrective action

Coordinates for