Week 2- 2R Robotic Arm Challenge

Green Color = Comments,

Blue Color = Program,

Black Color = Explanations,

Red Color = Instructions

 

 

#Youtube Link for the Program = https://youtu.be/WfFKFpSR9LA

 

#Program

% A Program on Kinematics of Robotic Arm

comment on the name of the Program

 

close all

To close all the plots in the figure window

clear all

To clear/delete all the saved data in the workspace, editor & command window 

clc

To clear/delete all the temporary saved data in the current window

 

% Input

Comment to specify below are all the input data (taken at random)

Below are the values of all the necessary data required to perform the program

Values such as

Length of the Links (L1, L2)

Angle made by the links with respect to the x-axis (theta1, theta2)

After every value semi-colon is used for not displaying the value in the command window 

L1 = 2;

L2 = 2.6;

theta1 = linspace(0,100,15);

theta2 = linspace(0,100,15 );

 

Here SD is used as a counter and given a value as 1 

Here using a counter for plotting with a specific command 

SD = 1;

 

Here in this program, multiple values are being taken also in a specific sequence for the links i.e. L1, L2 without entering them manually, For that 2 for commands are being used for specifying the values i.e. i = from 1 to length of theta1 & j = 1 to length of theta2.

Uppercase THETA1 is specified as theta1 of i & Uppercase THETA2 is specified as theta2 of j

for i = 1 : length(theta1)

THETA1 = theta1(i);

for j = 1 : length(theta2)

THETA2 = theta2(j);

 

Below are the values of the cordinates of the links with respect to the x-axis & y-axis i.e. (x0 y0), (x1 y1), (x2 y2)

x0 = -1;

y0 = 0;

 

x1 = L1*cosd(THETA1);

y1 = L1*sind(THETA1);

 

x2 = x1 + L1*cosd(THETA2);

y2 = y1 + L1*sind(THETA2);

 

% Plotting

Comment for Plotting

 

Here 1 plot command is used and add all the coordinates in it to reduce the extra commands such as pause, hold as in every program the last very last plot command gets implemented.

Linewidth is also used to specify the width of the links.

plot ([x0 x1], [y0 y1], [x1 x2], [y1 y2],'linewidth',2)

 

Axis command is used to specify the values of x-axis & y-axis 

axis ([-1.5 4.5 -0.5 5])

 

Pause command is used to add an interval in the animation and make it more smoother.

pause (0.28)

 

Here naming the movie/animation/video as A of counter SD as get frame for framing it in one.

A(SD) = getframe(gcf);

 

This is to specify to add 1 after every plotting 

SD = SD + 1;

 

end of 2nd for command

end

 

end of 1st for command

end

 

Specifying movie named as A

movie(A)

 

Naming the video/animation/movie using VideoWriter command as Robotic_arm.avi and specifying the format of the movie as Uncompressed AVI

videofile = VideoWriter('Robotic_arm.avi','Uncompressed AVI');

 

specifying to open the program after saving it in a specific name and format

open(videofile)

 

this command is used to play the video/animation/movie named A in the program

writeVideo(videofile,A)

 

After successfully playing the video/animation/movie close command is used to close it.

close(videofile)

 

#Output

  

 

#Errors that were faced during the program

 

#Error 1

Line no. 40 

videofile = Videowriter('Robotic_arm.avi','Uncompressed avi');

write(videofile,A)

 

The mistake is highlighted 

While naming any program the command must be with a capital starting letter i.e. Video Writer

While specifying the format of the program the format must be in the capital letters i.e. AVI

write command is used but not specified what to write, So the solution for this problem is writeVideo

 

All the errors i.e. 3 errors are covered in 1 single snap (Attached below, named ass Error 1)

 

At First, I found the Program a bit difficult to understand but after watching the video multiple times and practicing the program was successfully run and the animation/video/movie was created.