Week 2- 2R Robotic Arm Challenge

Aim: To write a program and calculate the final position of the robot arms/manipulator l1 and l2 given their Matlab to simulate the arm angles θ¹ and θ²

Method: Using for loop for θ¹ and θ² and capture video frames of the robot manipulator's position from rest. When at rest the arms are horizontal to the Xaxis i.e θ¹ and θ² are zero. In the program the final θ¹ and θ² are 60 and 75degrees resp.

PROGRAM

clear all
clc

%Robot is postioned at (x=0,y=0.1)
x0=0;
y0=0.15;
axis ([-1 4 0 4])

% l1 and l2 are length (m) of first and second link respectively
l1=1.75;
l2=1;

%theta1 and theta2 are angles of the arms w.r.t the horizonatal plane or x-axis

theta1= linspace(0,60,15);
theta2= linspace(0,75,15);

ct=1;
for i=1:length(theta1)
Theta1=theta1(i);

for j=1:length(theta2)
Theta2=theta2(j);

%fix axis

axis ([-1 4 0 4])

%Coordinates of robot arm joint with l1 and l2:
x1=l1*cosd(Theta1);
y1=l1*sind(Theta1);

%Coordinates of robot arm manipulator tip
x2=x1+l2*cosd(Theta2);
y2=y1+l2*sind(Theta2);

%Plotting the robot arms and manipulator:
figure (ct)
%plot arm1
hold on

%Robot has a half circle base for aesthetic pupose
r = .3;
semicrc = r.*[cos(0:0.1:pi); sin(0:0.1:pi)];
area(semicrc(1,:), semicrc(2,:), 'FaceColor','b')

%plot arm1
plot([x0,x1],[y0,y1],'linewidth',15,'color', 'b');

%plot arm2
plot([x1,x2],[y1,y2],'linewidth',7,'color', 'r');
axis ([-1 4 0 4])

%Arm joint
plot(x1,y1, '.b', 'MarkerSize',69);

%frame speed

pause(.03)

%video capturing

M(ct)= getframe(gcf);
ct=ct+1;
end
end
movie(M)
videofile = VideoWriter('Robot_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

OUTPUT:

Output: (Youtube link: https://youtu.be/xnU6WmUpZdo)

Conclusion: Using for loop, simulation of robot manipulator helps in extrapolating the coordinates the arms x0y0, x1,y2 corresponding to the arm angles theta1 and theta 2.