Week 2- 2R Robotic Arm Challenge

AIM

Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm. Create an animation file of the plot.

MATLAB CODE

% Forward Kinematics of a 2R robotic

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

pause(0.03);
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',4);
axis([-0.5 1.5 0 1.5])
ct=ct+1;
S(ct)=getframe(gcf);

   end



end


movie(S)
videofile=VideoWriter('forward_kinematic.avi','Uncompressed AVI');
open(videofile);
writevideo(videofile,S);
close(videofile);

clear all - Remove items from the workspace

close all - Close one or more figures

Linspace - Generate linearly spaced vector

For loop - Repeat the specified number of times

Plot - 2-D line plot

Axis - Set axis limits and aspect ratios

Getframe - Capture axes as movie frames

Videowrite - Create an object to write a video file

Close - To close the video file

RESULT

Matlab program was executed and the movie file obtained

Google Drive Link:

lfhs=2https://drive.google.com/drive/folders/1IP20feWQ2NljK1hqU2y1nQWhgRpdP4Oz?lfhs=2