Week 2- 2R Robotic Arm Challenge

robotic arm working on the basis of forward kinematics

the robotic arm consider as the two links

link1 and link2

at a point of link1 toutch the bottom plain is (0,0)

at a point of link2 and link1 is (x1,y1)

at a point of end of link2 is (x2,y2)

the arm considered in a 2D frame

theta1 is the angle between link1 and plain

theta2 is the angle between link2 and plain

length of link1 is l1

l1=1

length of link2 is l2

l2=0.5

linspace commad used to caiculate the values of theta1 and theta2

theta1=linspace(0,90,10)

in which the theta1 contain 10 values between 0 to 90 at a interval of 10

theta2=linspace(0,90,10,)

in which the theta2 cotian 10 values between 0 to90 at a interval of 10

calculating the possible movements of link1 and link2 of the robotic arm

x1=l1.*cosd(THETA1)

y1=l1.*sind)THETA1)

x2=x1+l2.*cosd(THETA2)

y2=y1+l2.*cosd(THETA2)

The THETA1 and THETA2 are the assing the new values for loop of link1 and link2

plot the graph by using ploting command

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2])

save the programme in desktop

run the programmeby press the run tool

then we get a 100 differrnt movement of two links , that like a amimation

the animation can pause the 0.03 sec

pause(0.03)

the animation can be assing to a variable with help of

getframe command

the animation is convert to a video form by using writervideo command

output of animation video :

http://youtu.be/-11KHPieXBQ