Week 2- 2R Robotic Arm Challenge

AIM:to write program for forward kinematics of 2R robotic arm

CODE EXPLANATION:

• here we are giving inputs .
• we are writing the values for x0 and y0.
• next we are writing the formulas for the x1 and y1.
• then we are writing for x2 and y2.
• atlast we are plotting the graph.

METHOD1:

l1=1; link1 %input

l2=0; link2

x0=0; %the starting of first link

y0=0;

x1=l1.*cosd(theta1); % the end of the first link and starting of the second link

y1=l1.*sind(theta1);

x2=x1+l2.*cosd(theta2);

y2=y1+l2.*sind(theta2); %the ending of the second link

%plotting

line([x0 x1],[y0 y1],'Linewidth',3,'color','b');

line([x1 x2],[y1 y2],'Linewidth',3,'color','r');

METHOD 2:

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); %we use for loop to iterate different values of theta1 and theta2

THETA2=theta2(j)

x0=0; %the starting of first link

y0=0;

x1=l1.*cosd(theta1); % the end of the first link and starting of the second link

y1=l1.*sind(theta1);

x2=x1+l2.*cosd(theta2);

y2=y1+l2.*sind(theta2); % the ending of second link

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

axis([-1 1 0 1.5])

M(ct)=getframe(gcf);

ct=ct+1;

end

end

movie(M);

videofile=videowriter('forward_kinematics.avi','uncompressed.AVI');

open(videofile)

videowriter(videofile,M);

close(videofile)

CODE EXPLANATION:

• first we are assigning the values of link1 and link2.
• then we are assigning the count=1.
• then we are assigning the values of theta1 and 2 by using linspace().
• then we are assigning i to the variable THETA1 and THETA2.
• then we use for loop for different positions of robot at different theta values.
• then we are giving the starting and ending point of link 1 and link2.
• we are keeping the initial value for link1 as x0=0,y0=0.
• then we are plotting the graph of the robotic arm.
• we are then setting the values of x and y axis.
• then we get all the frames of the robotic arm and we craete a movie.
• we are then saving the videofile to the AVI files.
• we are then writing the videofile

ERRORS FACED DURING CODING:

• while assigning the theta1 to the x2 I instead assigned theta.
• then I corrected it using editor window.
• then I forgot to leave space in each line while writing the for loop so I got the graph like a line
• then I corrected it by leaving space for the variable THETA1 and THETA2.
• then I forgot to give the axis values for x and y in axis().

THE SCREENSHOTS FOR ERRORS I FACED ARE POSTED WITH OTHER SCREENSHOTS:

https://youtu.be/N-P8guQYfZAhttps://youtu.be/4GQeynXC_kQ