Week 2- 2R Robotic Arm Challenge
% forward kinematis of a 2R robotic arm
clear all
close all
clc
% inputs
l1=1;
l2=0.5;
theta1=45;
theta2=30;
% 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',3,'color','b')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')
clear all
close all
clc
% inputs
l1=1;
l2=0.5;
theta1= linspace(0,90,40);
theta2= linspace(0,90,40);
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(0.3)
M(ct)= getframe(gcf);
ct=ct+1;
end
end
movie(M)
videofile = VideoWriter('animtion.m','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close (videofile)Explanation, for forward kinematis of a 2R robotic arm
take some inputs values like
l1=1;l2=0.5;
theta1=45;theta2=30; and take some coordinates x0,y0,x1,y1,x2,y2
let plotting the coordinates
its generate plot figure , but we need robotic arm moving animation video.
using for commend to generate the THETA values
using the THETA value to creat x1,y1,x2,y2 values,then ploting the values showing animation video
using pause comment for animation running speed.
below mention commends are using for video file making.
movie(M)
videofile = VideoWriter('animtion.m','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close (videofile)
ERROR facing,
forget to mention ct=1,
without mention ct value shows error in M(ct)= getfram(gcf);
then resolve it,
while write the code worngly mention some Y and y ,if run the program it have some mismatch error, after correct it .