Challenge

Week 2- 2R Robotic Arm Challenge

SS Ajithkumar9 Jun 2022

AIM :

To write a program in matlab to simulate the forward kinematic of a 2R robotic arm

OBJECTIVE :

Animating and creating a movie from the plots obtained from the program .

THEORY:

A manipulator end effector movement determines the workspace where the roboic arm can be applicable our motive is t animate the movement of robotic arm with the subseqent relative motion between the two comprising links

INTRODUCTION:

* Kinematics is the relationships between the positions,velocities and accelerations of the link of a manipulator

* The forward kinematics is when the kinematical data are known for the joint coordinator the variables of the end-effector in a given cartesin space are to be computed

* Robotic arms are machines that are programmed to exeute a specific task or job quickly ,efficiently and extremely accuratly

* A robotic joint provides relative motion between two links of the robot each point or axis provides a certain degee-ofpfreedom(DOF)

INPUTS:

(x0,y0) = starting point of link 1

(x1,y1) = end point of link1 and starting point of link 2

(x2,y2) = end point of link 2

l1 = length of link attached to the base

l2 = length of link between the first and the end effection

theta 1 = angle made by link 1 with x -axis

theta 2 = amgle made by link 2 with x-axis

CODE EXPLANATION:

* Programming language used in MATLAB

* starting program by using commands

* clear all-remove data from the workspace frecing up system memory

* close all -deletes the current figure or specific figure

* clc - clears all input and output from the command windows display giving you clean screen

* providing the inputs variables like

* predefining the length /values of robotic arms

* providing the values for theta 1 and theta 2 using linspace command for theta 0 to 90 degree for l1 values

* providing the Cr(compression ratio) value specfic digit

OUTPUT :

The simulation of the forward kinematics of a 2R -robotic arm amnipulator is done and we observed that each 10 degree of movement of the link 1 there is 90 degree of the link 2

FOR LOOP : for loop is used here for the iteration of the values from 0 to 90 degree I is used as outer loop and J is inner loop

COSD and SIND are used to coverd the radians into degrees beacuse MATLAB by defult takes in radians

PAUSE : we have paused the code so that process can be visulised more clearly

Ct : ct is used for saving the frames in order to create a movies frames

GETFRAME: similarly getframe is used to caputre the frame and then by fast movement of those frames it can be convert into a movie

Movie: movie command is used to create the movie frames caputre

video writter: It is create a video file of the movie created and save in pc hard disc

plot: the plot command is used to plot the graphs of the coordinates provided

Axis: the axis command is used to create the axis upon which we are going to the plot the coordinates

Linspace: the linspace command is useful creating an arrays of values specified by the user

PROGRAMMING:

A% forward kinematics of a 2R robotic manipulator

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

movie(M)

videofile = VideoWriter('forward kinematics.avi' , 'Uncompressed AVI');

open(videofile)

writeVideo(videofile,M)

close(videofile)

Video file:

https://drive.google.com/file/d/1-ZKxd-bH1zWcBQsILfRtNMKEhYtiYspp/view?usp=sharing

CONCLUSION:

* A practical scenario regarding the functioning of the robotic arm and its workspace has been expernced by simulating the forward kinematics with a program in MATLAB

Week 2- 2R Robotic Arm Challenge

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.