Week 2- 2R Robotic Arm Challenge

links:

https://drive.google.com/drive/u/0/folders/1VB6Wwj0SsU3SuuC1_qGuHyYYgAl8DH3I

AIM:

Animation of Forward Kinematics of 2R-Robotic Arm.

EQUATIONS:

x0=0

y0=1

x1=l1*cosθ1

y1=l1*sinθ1

x2=l1*cosθ1+l2*cos(θ1+θ2)

y2=l1*sinθ1+l2*sin(θ1+θ2)

Program:

% inputs

%{length of the 1st link}

l1=10;

%{length of the 2nd link}

l2=15;

ct=1;

% angel of 1st link with base from 0 to 90 total 4 parts {0,30,60,0}

thita1=linspace(0,90,4);

% angel of 1st link with reference base from 0 to 90 total 4 parts {0,30,60,0}

thita2=linspace(0,90,4);

% 1st for loop for range of angel of link 1 with reference o base.and thita values changes for every step.

for i=1:length(thita1)

Tta1=thita1(i);

% 2nd for loop for range of angel of link 2 with reference o base.and thita values changes for every step.

for j=1:length(thita2)

Tta2=thita2(j);

x0=0;

y0=0;

% coordinate of the links. ct value increases 1 for every step to repeate the loop upto condition is ture.

figure(ct)

hold on

x1=l1*cosd(Tta1)

y1=l1*sind(Tta1)

x2=l1*cosd(Tta1)+l2*cosd(Tta1+Tta2)

y2=l1*sind(Tta1)+l2*sind(Tta1+Tta2)

axis([-15 20 0 20])

plot([x0 x1],[y0 y1],'color','r')

plot([x1 x2],[y1 y2],'color','b')

pause(0.3)

M(ct)=getframe(gcf);

ct=ct+1;

end

end

% Animation of the Arms.

movie(M)

videofile=videowriter('ani_2r_arm.avi','animated_file.avi');

open("videofile")

writevideo(videofile,M)

close(videofile)

RESULT: