Week 2- 2R Robotic Arm Challenge
clear all % Clears the Workspace
close all % Close all the Tabs
clc % Clears the Command Window
% Write a program to simulate the forward kinematics of a 2R Robotic Arm
% Length of the 2R Robotic Arm
l1 = 1; % Length of the 1st link
l2 = 0.5; % Length of the 2nd link
% Angle of Movement of 2R Robotic Arm
theta1 = linspace(0,90,10); % Angle of movement of 1st link
theta2 = linspace(0,90,10); % Angle of movement of 2nd link
a=1; % 'a' is the counter variable for incrementing the frame
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
% Co-ordinate points of Robotic Arm
x0 = 0; % Base points of 1st link
y0 = 0;
x1 = l1*cosd(THETA1); % Base point of 2nd link and End point of 1st link
y1 = l1*sind(THETA1);
x2 = x1+l2*cosd(THETA2); % End points of 2nd link
y2 = y1+l2*sind(THETA2);
% Plot of the Robotic Arm
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',2);
xlabel('x-axis');
ylabel('y-axis');
pause(0.1); % 'pause()' command is used stop the current validation temporarily for given seconds in closed paranthesis.
M(a) = getframe(gcf); % Here 'M' is the variable used to get a current figure window
a = a+1; % Here 'a' is incremented and then passed through the 2nd value of 'i' and it's repeated until it ends
end
end
movie(M) % 'movie' command is used to generate a movie of given number of frame 'M'
videofile = VideoWriter('Forward Kinematics Of 2R Robotic Arm.avi','Uncompressed AVI'); % video file is created by using 'VideoWriter' command and named as 'Forward Kinematics Of 2R Robotic Arm.avi' and profile is named as 'Uncompressed AVI'
open(videofile); % Then open the videofile
writeVideo(videofile,M); % Play the video by using 'writeVideo' command
close(videofile); % Close the videofile after completed
https://drive.google.com/file/d/1mny83aNcikU5iocmQfJmG7fWIPy386YZ/view?usp=drivesdk
https://drive.google.com/file/d/1moQmO3mVtMNAMsFmhY3u-JtwqI6z3paw/view?usp=drivesdk
