Week 2- 2R Robotic Arm Challenge
AIM - SOLVED THE FORWOED KINAMATIC OF ROBERTIC ARM
clear all
close all
clc
%input
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 = l2*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('forwoard_kinitic.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)
EXPLAINATION OF CODE
In this figure show two link. one is blue in colour another red.
link 1 has angle with x-axis denoted by theta1
link 2 has angle with x-axis denoted by theta2
length is denoted by l1= link1
l2 = link2
solution
step 1= calulation the position 1
step 2 = calulation the position 2
step 3 = it is an addition of step1 +step2
[x0 ,y0] [x1, y1] [x2 , y2]
where, x and y are axis
now,
for link 1
x1 = l1 * cosd(theta1)
cosd = theta is in degree
y1 = l2 * sind(theta1)
sind = theta is in degree
same process for link 2
x2 = x1+ l2 * cosd(theta2)
y2 = y1+ l2 * sind(theta2)
plot command is used for making the plot
using for loop
for loop using in this program because value is going to change always
VIDEO LINK- forward kinamatic of robotic arm
Video link