Week 2- 2R Robotic Arm Challenge

close all

clear all

clc

ct = 1;

% inputs

l1 = 1;

l2 = 1.5;

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

for i = 1:length(theta1);

THETA1 = theta1(i);

for j = 1:length(theta2);

THETA2 = theta2(j);

% coordinates

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],'linewidth',3,'color','b');

hold on

plot([x1,x2],[y1,y2],'linewidth',3,'color','r');

axis([-0.5 3 0 3]);

hold off

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)

 

EXPLANATION :
Start programming in MATLAB with three commands,as all the previous calculation are erased.
clear all : This command clears all the data stored in the workspace previously.
close all : this command closes all the previous figure and plots.
clc : this n command clears the command window.
We define all the inputs initially.
Firstly we define a length of the robotic arms, l1 and l2.
Set of values for theta1 and theta2, assigned in and array with linespace command.
Uses of for command for iterating the values of the desired variable.
Again we use for command for providing movement to the second robotic arm.
Defines the coordinates of both the robotic arms.
Plotting all the coordinates values and writingg command for changing the appearance of the contours.
All figures are assigned to a variable ,M, one at a time using ct followed by terminated of for loop.

In the last, movie command is used to combine all the figures saved in the M file to make an animation/movie and saving it in.avi
format.