Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

% inputs

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,90,10);

theta2 = linspace(0,180,10);

ct=1;

for i=1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

% cordinates

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)

xlabel('x-cordinates')

ylabel('y-cordinates')

axis([-0.5 1.5 0 1.5])

pause(0.1)

M(ct)= getframe(gcf);

ct=ct+1;

end

end

movie(M)

videofile=VideoWriter('forwardkinematics.avi','Uncompressed AVI');

open(videofile)

writeVideo(videofile,M)

close(videofile)

clear all

close all

clc

This will help us to clear all the previous data and starts it as a fresh page

Inputs are given for the length of the arms

The degree of movement of the arms are given , Instead of giving 90 degree and 180 degree Linspace command is used with an interval of 10 values in between 0 & 90, 0 & 180.

With the help of a for loop we can change the values of theta and the movement of the arms are possiblie.

Loop counters are given for respective arms like 'i' and 'j'.

Counter commad is given before and after the for loop, as the interval between the theta is 10 and the it will be showing totally 100 value one by one till the for loop runs in the condition provided.

Input data of the cordinate position of the arms

Plotting command is given , as it visualize the arms postions

xlabel and ylabel are provided for giving respective names for x axis and y axis

The axis are given to fix the axis of rotation of the arms, if not provided the axis will continously changing.

Pause command is given for adjusting the speed of movement of the arms in the plot.

Line 29 & 30 - for loop is a closed loop, as end are provided in these lines Two for loops are considered for respective arms.

Line 31 to 35 - These command are used to convert the animated plot into videofile and is saved automatically , this can be viwed when ever it is required.

OUPUT IS OBTAINED