Week 2- 2R Robotic Arm Challenge

% 2R Robotic Arm

clear all
close all
clc
%Inputs
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)
        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(0.03)
        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)

FORWARD KINEMATICS OF ROBOTIC ARM EXPLANATION

There are two arms named link 1 and link 2.The link 1 substends theta 1 as its angle and link 2 substends theta 2 as its angle

we shall start the program with

clear all

close all

clc

the length of the link 1 and link 2 will be given as the input as 1 and 0.5

then we shall designate theta 1 and theta2 with a command using linspace such that it will divide the angles into 90 equal parts of 0 to 10 and also will represent the position of the links with respect to the change of theta1 and theta2.

we shall start a for loop giving i and j as the size o f 10 for theta1 and 2 and noe introduce THETA1 AND THETA2 for looping the theta1 and 2 with respect the coordinates of x0,x1,x2,y0,y1,y2

starting from the x0,y0 with (0,0)

formulating

x1=l1*cosd(THETA1)

y1=l1*sind(THETA1)

x2=x1+l2*cosd(THETA2)

y2=y1+l2*sind(THETA2)

Now we are ready to plot a robotic arm

with command plot starting from x0 to y2 with matrix multiplication and giving the linewidth as 3 and starting the axis with -0.1 to 1.5

pause w

the video with a speed of 0.03

for movie introduce the coutour at the beggining of the for loop and giving the command as

M(ct)=getframe(gcf)

ct=ct+1

end the loop

end

for movie

use movie(M) connecting the given command before for movie in the for loop

give the videofile a name such as forward kinematics.avi

open the videofile

using writevideo

then close the video

save the video and play it in any movie player

link for youtube video:https://youtu.be/cjPQR2E5Ywk