Week 2- 2R Robotic Arm Challenge

clc
close all
% 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);

        plot([x0 x1],[y0 y1],[x1 x2], [y1 y2], "linewidth",4)
        axis([-0.1 1.5 0 1.5])
        pause(0.1)
     
        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)

Aim:-

To write a program in MATLAB to simulate the forward kinematics of a 2R robotic arm.

Procedure:-

If theta 1 and theta 2 are the angle made by link 1 and link 2 respectively.

So, (starting point of link1) X0,Y0= (0,0)

(End point of link1) X1,Y1 = [l1*cos(theta1), l1*sin(theta1)]

where, length of link 1 = l1 and lenth of link 2 = l2

(Starting point of link2) X1,Y1 = [l1*cos(theta1), l1*sin(theta1)]

(End point of link2) X2,Y2 = [x1 + l2*cosd(theta2), y1 + l2*sind(theta2)]

So, we will be ploting graph for 3 coordinates i.e (x0,y0) (x1,y1) (x3,y3) for varying theta 1 and theta2

For varying theta values in program we will use linspace command

We will use for loop to get 10 values of theta 1 and theta 2