Week 2- 2R Robotic Arm Challenge

AIM:- FORWARD KINEMATICS OF A ROBOTIC ARM

GOVERNING EQUATIONS :- X2=X1+L2COS THETA2

Y2=Y1+L2SIN THETA2

SOLUTION:- [X0,Y0][X1,Y1][X2,Y2]

DISCRIPTION:- THE ROBOTIC IS AN EMERGING FIELD AND AS MECHICAL ENGINERS LEARNING HOW TO WRITE SIMPLE PROGRAMS ABOUT ROBOTIC ARMS

IN ROBOTIC ARM YOU ARE LERNING ABOUT KINEMATICS OF THE LINKAGES IF YOU UNDER STAND THE KINEMATICS IF YOU CAN WRITE THE PROGRAM THAT SIMULATE HOW THE ARM IS MOVING

IN THIS PROGRAM THE PHYSICS BEHIND IS THE ROBOTIC ARM HOW DOWS IT MOVE AND FROM WHEAR TO WHEAR FROM WHICH DIRECTION TO ANOTHER THIS TH PHYSICS BEHIND IN IT

BODY OF THE CONTENT :-THE FORWARD KINETAMITC OF A ROBOTIC ARM IS USED IN THE MATLAB SOFTWARE WITH MATLAB LANGUAGE

CONTENT:- SHOWING HOW THE ROBOTIC ARM MOVING IN THE SOFTWARE OF MATLAB LANGUAGE AND USING THE COMMANDS IN MATLAB OR OCTAVE AND THE COMMANDS THE BY SCREEN SHOTS AND COMMANDS ALSO IN DOCCUMENT

CONCLUSION:- THE CONCLUSION IS MAKLING A KINEMATICS ROBOTICS ARM HOW IT MOVING IN MATLAB USING COMMANDS THAT EXPLAINED IN THE CLASS

clear all
close
clc

%Inpts
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)
ct=ct+1;
end
end

movie(m)
videofile = videowriter('forward_kinematices.avi','uncompressed avi');
open(videofile)
writevideo(vieofile,M)
close(videofile)