Week 2- 2R Robotic Arm Challenge

close all
clear all
clc
% inputs
l1=1;
l2=0.5;
theta1=linspace(0,45,10);
theta2=linspace(0,45,10);
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)

Here we have to write the program for forward kinematics of a robotic arm

here given inputs are :theta1(angle from base to link1)

                                 theta2(angle from ending point of link one to link two)

                                 ll1(length of a link 1)

                                 l2(length of link 2)

so accpording to program here we have to find out the final position of the manupulator

step 1;

calculate position of link1

step 2;

calculate position for link2

so ,we have to find coordinates[x0 y0],[x1 y1],[x2 y2]

and then make a animation video for that plot,we get