The Foward Kinematics of a 2R Robotic Arm

Aim :

To write a program and simulate the forward kinematics of a 2R Robotic arm

Objective :

To create an animation file and simulate the motion of a 2R robotic arm

Theory:

Robotic arms are machines that are programmed to execute specific task or job quickly,efficiently and accurately.

It is a mechanical arm that functions similar to human arm. A typical industrial robot arm includes a series of joints,

articulations and manipulators that work together.

some of the types of robotic arms are:

• Cartesian Robots
• Cylindrical Robots
• SCARA Robots
• Collaborative Robots

In this 2R robotic arm there are 2 links forming a kinematic chain which allows for both rotational and transitional motion.

Input Parameters:

L1=Length of link 1

L2=Length of link 2

Theta1=angle made by the link 1 with x-axis

Theta2=angle made by the link 2 with x-axis

(x0,y0)=starting point of link1

(x1,y1)=ending point of link 1 and starting point of link 2

(x2,y2)=ending point of link 2

Explanation of code :

• Length of link1 is assumed to be 1m
• Length of link2 is assumed to be 0.5m
• Theta1 and Theta2 varies from 0 to 90 degrees in 4 partitions
• The value of counter is set to 1 which is increased by 1 for every iteration of loop
• Double for loops are used for iteration of the robotic arm position
• First for loop is for link1 and second for loop is for link2
• The positions of link1 and link2 are iterated and plotted in a graph
• ImageMagick is used to create the animation in gif file

Code :

Programming language used :- MATLAB

Software used :- MATLAB