Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

% Code for simulating the forward kinematics of 2R robotic arm

% Inputs

% angles of first link of robotic arm

theta1 = linspace(0,90,30);

% angles of second link of robotic arm

theta2 = linspace(0,90,30);

% length of first link

l1 = 1;

% length of second link

l2 = 0.5;

% coordinates of the arm

x0 = 0;

y0 = 0;

k = 1;

for i = 1:length(theta1)

theta_1 = theta1(i);

% coordinates of end of the 1st link

x1 = l1*cosd(theta_1);

y1 = l1*sind(theta_1);

for j = 1:length(theta2)

theta_2 = theta2(j);

% coordinates of end point of 2nd link

x2 = x1 + l2*cosd(theta_2);

y2 = y1 + l2*sind(theta_2);

% plot of forward kinematics of 2R robotic arm

plot([x0, x1],[y0, y1],[x1, x2],[y1,y2],'LineWidth',2)

axis([0 2 0 2])

M(k) = getframe(gcf);

pause(0.01)

k = k + 1;

end

end

% creating a video file

movie(M)

videofile = VideoWriter('forward kinematics of 2R robotic arm','Uncompressed AVI');

open(videofile)

writeVideo(videofile,M)

close(videofile)

Code for simulating the forward kinematics of 2R robotic arm is written above. The robotic arm consist of 2 links. 1st link is fixed to a surface ,x0 and y0 is the cordinates of one end iof the 1st link and is assumed to be fixed at coordinates (0,0). Other end of the 1st link moves at an angle theta1, theta1 is an array containing different 30 different angles link 1 makes with respect to x axis and for getting different angles we use linspace(0,90,30) command.Similarly, theta2 is an array consisting of angles link 2 makes with respect to x axis. we use for loop for simulating various positions the arm make with varying angles. the coordinate of the other end of the 1st link is calculated using equations