Week 2- 2R Robotic Arm Challenge

AIM:

A program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video.

PROCEDURE :

program in matlab

close all
clear 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)
ct=ct+1;
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)

copying kinematics codes from here :

forward kinamatis of 2r robotic are manipulator
 clear all
 close all
 clc
 %inputs
 l1 = 1 
 l2 = 0.5
 
 theta1 = 45;
 theta2 = 90;

 %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')

RESULT:

Thus a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video. runs successfully