Week 2- 2R Robotic Arm Challenge

Program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, and Report.

Aim:

• Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

Governing Equations:

• Im writing and plotting the simulate the forward kinematics of a 2R Robotic Arm.

Objectives:

Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video.

• Create an animation file of the plot.

Program Content:

% Forward kinematics of a 2R Robotic arm manipulator
clear all
close all
clc

% Inputs 
l1 = 1;
l2 = 0.5;

theta1 = 45;
theta2 = 30; 

%Coordinates 
x0 = 0;
y0 = 0;

x1 = l1*cosd(theta1);
y1 = l1*sind(theta1);


x2 = x1 + l2*cosd(theta2);
y2 = y1 + l2*sind(theta2);

%plotting
line([x0 x1],[y0 y1],'linewidth',3,'color','b')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')

Description:

• In these program I have writen some Inputs, Coordinates of the required values and then ploted.

Conculusion: In this program im showing the functions of simulate the forward kinematics of a 2R Robotic Arm and below link is provided.

Q2.Create an animation file of the plot.

Sol.

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)

https://drive.google.com/file/d/1qnZ3xEyP-R04WyI-Y9SMBPSZwh0XoJoR/view?usp=sharing