2R Robotic Arm Challenge

Forward Kinematics of 2R Robotic Arm Manipulator

Commands used in program

close all used for close all graph open in background

clear all used for clear all values saved in workspace

clc used for clear screen

% Used to write comment

; Used to save value in workspace but not print in command

Linspace command (Here we define only length of vector and it's interval)

For_loop used to repeat input in specified no of times

Line command is used for print a line

Linewidth used for show thickness of line

Color command is used show different color line

ct used for counter

Pause use for give interval between print two line

plot command is used for plot a graph between given array

grid command is used for show grid (horizontal & vertical line) in a graph

axis command is used for give a limit to axis

xlabel & ylabel command is used for write in x axis & y axis.

#INPUTS

L1 = length of link 1

L2 = length of link 2

theta1 = no of angles of link1

theta2 = no of angles of link2

THETA1 = angle of 1^st link after executing loop

THETA2 = angle of 2^nd link after executing loop

%Coordinate

x0 =starting point of link1

y0 =starring point of link1

x1 =ending point of link1 & starting point of link2

y1 =ending point of link1 & starring point of link2

x2 =ending point of link2

y2 =ending point of link2

Code Explanation

Specify Length of both link and give different angle by using variable theta.

Taking number of value of theta by using linspace ccommand

Then specify all coordinate point of movable link

Using for loop for taking different value of theta every time.

Find the value of all coordinates x0 y0,x1 y1,x2 y2 by using Pythagoras theorem

Using cosd (it take angle in drgree) & if is cos (it take angle in radians)

Plotting graph by using plot command

Using getframe(gcf) for save animation

Using VideoWriter for create plane video

Opening video then writing a video and after video will close and save in same folder where program is saved.

CODE:

clear all
close all 
clc 

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 2 0 2])
        xlabel('X axis')
        ylabel('Y axis')
        pause(0.001)
        M(ct)=getframe(gcf)
        ct=ct+1
       
    end
end
movie(M)
v=VideoWriter("2R_robotic.avi")
open(v)
writeVideo(v,M)
close(v)

#Get error in run for loop

Solution forget I used 2 for but give only 1 end So I get error

Forget to write bracket in line 20

Put extra bracket so command isn’t working

Animation Upload on youtube

Link:- https://youtu.be/n6O_VvLFsxo