Week 2- 2R Robotic Arm Challenge

1.Aim;

• Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm,
• Make a animateed video of the forward kinematics of a 2R Robotic Arm

2.Assume;

• Length of link1=1m
• Lenght of link2= 0.5m
• 'theta1' will be angle made by link1,
• 'theta2' will be angle made by link2
• x and y are the coordinates of the link

3.Objectives;

• 1 To calculate the position of link 1
• 2.To calculate the position of link2

4.code;

clear all
close all
clc

% inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
 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);

% ploting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2], 'linewidth',3);
axis([-0.1 1.5 0 1.5])
pause (0.003)
M(ct)=getframe(gcf);
ct=ct+1;
    end
end

movie(M)

videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile);
writeV
ideo(videofile,M)
close(videofile)

5.Final Result;

Link of the animated video:

https://drive.google.com/file/d/1SBMDbZVHOZCGfbtbOCCRCR37FHHZ_ejV/view?usp=sharing