Week 2- 2R Robotic Arm Challenge

                                                         2R robotic arm

Aim- To write a programin matlab to simulate the forward kinematics of a 2R Robotic arm.

Code-

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= l1*cosd(THETA1);

y1= l1*sind(THETA1);

x2= x1+l2*cosd(THETA2);

y2= y1+l2*sind(THETA2);

%plotting

figure(1)

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

axis([0 2 0 2])

pause(0.1)

M(ct)=getframe(gcf);

ct= ct+1;

end

end

movie(M)

videofile=VideoWriter('forwrad_kinematic.avi','Uncompressed AVI')

open(videofile)

writeVideo(videofile,M)

close(videofile)

 

Animation-

https://youtu.be/zOQ_AyUj2fI

 

Explaination of codes-

clear all - This command is used to clear all the data stored in the workspace

close all- This command is used to close all the fig and plots

clc- This command is used to clear the command window

 

Important note- To move the robotic arm continously we are using for loop

  

for i= 1:length(theta1)

THETA1= theta1(i);

for j=1:length(theta2)

THETA2= theta2(j);

 

Error-

 

Chnages- Replaced Movie to movie