Week 2- 2R Robotic Arm Challenge
% forward kinematics of a 2R robotic arm manipulator
clear all
close all
clc
% inputs
l1 = 1;
l2 = 0.5;
theta1 = 45;
theta2 = 0;
% 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')
for showing the robotic arm position
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)
for graphic and animation for saving as file.