Week 2- 2R Robotic Arm Challenge

Aim:

To create a MATLAB program for the forward kinematics of a 2R Robotic Arm, along with their repercussions in video form.

Objective:

The main objective is to know the position (workspace) of manipulator by varying theta value & Animation.

Governing Equations:

Body of Content:

Matlab Program-

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(THETA1);
        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('challange_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

Output Video: (Youtube Link)

https://youtu.be/-qLjqt7KPOA

Explanation:

1. As in every program commencing with these three commands clear all, close all & clc, following with inputs mentioning length and theta.
2. Here theta is as a matrix with linspace; which helps to create regular and equal intervals
3. For loop command with using i/j to length theta1 and theta2.
4. THETA1 / THETA 2 are Variable
5. However “theta” is an array because we are using matrix with linspace
6. Adding all mathematical expressions mentioning the values of x0,x1,x2, y0,y1 & y2.
7. After that using Plotting command where plots are being used instead of giving line command. As plots will give clear animation.
8. Mentioning axis with [-0.1 1.5 0 1.5] will give the clear animation within the mentioned axis boundary which will look elegant also.
9. For creating movie here “ct” represents each and every frame.
10. Here we create an array called “M” while making movie/animation.
11. At the last te video dmesify the position of manipulator with varying theta value.

Probblem faced during generating program:

Used ":" instead of "=" while mentioning variable THETA in for loop.

Youtube link of video