Week 2- 2R Robotic Arm Challenge

2R Robotic Arm Challenge

Aim:

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

Explanation:

Providing the input variables like
Predefining the length/values of the robotic arms, i.e.1 and l2
Providing the values for theta-1 & theta-2 using linspace command for theta=0 to 90 degrees for 10values
Providing the Cr (compression ratio ) value as a specific digit.
Now Using ‘for’ commandfor iterating the values of the desired variable.
Again using ‘for’ commandfor providing movement to the second robotic arm.
Providing the eqn for the x1,y1,x2,y2 or say Defining the coordinates of both the robotic arms.
Plotting all the coordinate values and providing the axis no.
Using the pause command to make the plot look realistic
Incrementing the cr or compression ratio value by +1 each time it executes for loop.
All figures are assigned to a variable M, one at a time using c
Ending the ‘for’ loop twice.
using movie commands to combine all the figures saved in the M file to make an animation/movie
At the end saving the movie in .avi format.

close all
clear all
clc

% simulation of robotic arm
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

% coordinates

x0 = 0;
y0 = 0;

ct = 1
for i = 1:length(theta1)

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


    for j = 1:length(theta2)

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


        %ploting

        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([0 1.5,0 1.5])
        pause(0.003)
        M(ct) = getframe(gcf);

        ct =ct+1
    end

end

movie(M)
videofile = VideoWriter('Forward_kinematic_arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

https://drive.google.com/file/d/1f0pPsZXxhQGIbcKSSqP8kqa767uuvFLW/view?usp=sharing