Week 2- 2R Robotic Arm Challenge

Aim - To Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

Objective - To understand kinematics of linkages and to figure out how the robot is going to move using programing language.

Body of content - Below mentioned is the program that we used in forward kinematics of a 2R Robotic arm manipulator.

% Forward Kinematics Of 2R Robotic Arm Manipulatior.

clear all
close 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)

 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)

Explanation - 1) We have drawn rough diagram on blank paper of linkages i,e 2 links (L1 & L2) with their respective angles (theta1 & theta2) made with X-axis also given cordinates of both the links are (x0 y0 , x1 y1 , x2 y2).

where -

2) we assumed the length of L1 & L2 = (1 & 0.5) also used 'linspace' command for (theta1 & theta2) to get 10 values.

3) For loop - for each value of theta1 & theta2 we need to repeat the whole calculations that is why we used for loop.

4) commands used - figure , hold on , pause

MOVIE CREATION

Explanation -

At the end of for loop --

Movie(M) - Matlab generates movie of all the frames stored in (M)

videofile - variable.

videowriter - To create new avi files to fetch.

we had given file name & profile in video writer command i.e

Result :- Below is the link for the animation of "2R Robotic Arm Manipulator" that i had uploaded in my youtube channel

https://youtu.be/HyHTEIHWdDo