Week 2- 2R Robotic Arm Challenge

Subject:Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

Explanation:

clear all- clear the variables in workspace

close all- clear the plots,figure in editor window

clc- clear the command window

while writing the code, Be ensure all basic commands in matlab need to be run to clear all command window, editor window and workspace

1. Inputs length of robo arm consider as 1,0.5.

2.Be ensure elements of the same row seperate by blan space (1 2)or comma(,)

3. Errors happened while coding are:
(i)for loop to repeat specified numers of time , not written coding after'for'

(ii) Brackets not used effectively

(iii) Errors during axis coding

Errors are attached below in the form of images as scrrenshots.

Result:

Results are Attached by youtube link and plot video are atttached are below.

Link:https://youtu.be/C2-0KgQw1o4

clear all
close all
clc

%Input
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=l1*cosd(THETA1);
        y1=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)
video=VideoWriter('forward_kinematics.avi')
open(video)
writeVideo(video,M)
close(video)