Challenge

Week 2- 2R Robotic Arm Challenge

SSyed Faizan24 Apr 2022

%a program to simulate the forward kinematics of a 2R Robotic Arm

 %input
  l1=1;
  l2=0.5;

  theta1=45;
  theta2=55;

 %coordinates
  x0=0;
  y0=0;

  x1=l1*cosd(theta1);
  y1=l1*sind(theta1);

  x2=x1+l2*cosd(theta2);
  y2=y1+l2*sind(theta2);

 %plotting
  line([x0 x1],[y0 y1],'linewidth',2,'color','r')
  line([x1 x2],[y1 y2],'linewidth',2,'color','b')

step1:- our first step is to calculate the position of link1
step2:- is to calculate the position of link2

in the programming point of view we will see how to calculate

step1:-in this step we have to give the values of L1,L2,`theta1`,theta2
step2:- in this step we can give the coordinates as x0,x1,x2 and y0,y1,y2
step3:- let x0=0,y0=0
step4:-let x1=L1*cosd(theta1),and y1=L1*sind(theta1)
step5:- letx2=x1+L2*cosd(theta2),and y2=y1+L2*sind(theta2)
step6:- using plotting command
step7:- using line command "line([x0 x1],[y0 y1],with a linewidth of 2 and in red color)"
step8:- simillarly using the line command for "line([x1 x2],[y1 y2],with a linewidth of 2 and in blue color)"

error:- in the above screen shot i got an error in line number 21 and 22 because i used close parantheses after y1and y2

%a program to simulate the forward kinematics of a 2r robotic arm with an animation plot



  %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)
  videofile=VideoWriter('forward_kinematics.avi','Uncompressed AVI');
  open(videofile)
  writeVideo(videofile,M)
  close(videofile)