Challenge

Week 2- 2R Robotic Arm Challenge

TTejavath Vinod21 May 2022

AIM: to write a program in Matlab to simulate the forward kinematics of a 2R robotics arm.

Objective:-

write a program to simulate the kinematic of a 2R robotic arm
To create an animation from the plots obtained from the program

Introduction:-

A robotics arm is a mechanical arm, usually programmable, with similar functions to a human arm,

the arm may be some complex robot. The link such as manipulators is connected by joints allowing either rotational motion or transitional displacement. the Links of the manipulator can be considered to form a kinematic chain. The links of the kinematic chain.The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand

-In this project, we consider a 2R robotic arm represents a robotic arm with two rotations.i,e. it has two links which rotate or work over a two-dimensionless plane with each of the link having a single degree as described.

let's consider L1 & L2 to be the length of the link_1&link-2 respectively

let theta be the angle formed by link 1 with horizontal and theta2 be the angle formed by the horizontal

let starting coordinates are (Xo,Yo) and (X1 Y1) for link-1

starting and ending coordinates for link-2 (X1, Y1),(X2, Y2)

explanation of the program:-

the program performed in Matlab

starting the program by comment

provide the input parameters like the length of the links and robotics arms&

theta-1 & theta-2 using linspace command for theta=0 for 115 values

now using the 'for' command for iterating the value of the desired parameter

once again use the 'for' command for movement for the second robotic arm

provide the equation for the X1 Y1,X2 Y2

increment the cr value +1 each time it executes for loop

plot the all the command values and provide axis no

by using the pause command to look the plot as realistic

all the figure are assigned to a variable M, one at a time it executes for loop

using the movie command to combine all the figures saved in the M file to make an animation/movie

at the end saving the movie.avi format

Matlab code:-

%program for 2R robotic arm manipulator

clear all

close all

clc

% inputs

%inputs

L1=1;

L2=0.5;

theta1=linspace(0,90,15);

theta2=linspace(0,90,15);

ct=1;

for i=1:length(theta1)

THETA1=theta1(i);

for j=1:length(theta2)

THETA2=theta2(j);

%coordinats

XO = 0;

YO = 0;

X1=L1*cosd(THETA1);

Y1=L1*sind(THETA1)

X2=X1+L2*cosd(THETA2);

Y2=Y1+L2*sind(THETA2);

%plotting

plot([XO X1],[YO Y1],[X1 X2],[Y1 Y2],'linewidth',3)

axis([-0 1.5 0 1.5 ])

pause(0.03)

M(ct)=getframe(gcf);

ct=ct+1;

end

movie(M)

videofile = videowritter('forward_kinematics.avi');

open(videofile)

writervideo(videofile,M)

close(videofile)

Errors & command window Execution:-

NO ERRORS IN EXECUTION TO GET OUT OF ERRORS USE [;] FOR BETTER OUTPUT

CONCLUSION:-

Thus we have simulated a 2R robotic arm by using the using Matlab programming and also create an animation from the plots obtained by the program

The animation google drive link of the 2R robotic arm manipulator

https://drive.google.com/file/d/1T2wzj-JB5PQfBm0_F4i53r_DT3Vtmmvz/view?usp=sharing

Week 2- 2R Robotic Arm Challenge

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.