Week 2- 2R Robotic Arm Challenge

Aim: To program in matlab to simulate the forward kinematics of 2R robotic arm

Explanation: 2R-robotic arm is simple mechanism in robots

Procedure to program in matlab to simulate the forward kinematics of 2R robotic arm:

• Robotic arm consist of two link with some length and and teta
• store the length and teta value as input
• store teta value from 0 degree to 90 degree using linspace command
• Then use 'for loop' then provide range to execute teta value from o degree to 90 degree by putting like this, example i=1:length(teta)

                                                                                                                                                                                teta1=teta(i)

• then store input of initialize and final values of co-ordinate because to show in graph
• then use plot command to plot the graph
• Then using some command like, pause , m(ct)=get frame(gcf), ct=ct+1 performing the function like m(ct) is save the frame of figure and pass to the movie and ct performing the increements
• After to watch the simulation of the forward kinematics 2R- robotic arm as video use command like, movie, videowriter, open, writevideo, close This command function is shown in below program

Program to simulate forward kinematics of 2R robotic arm:

 %input

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)

%co-ordinates

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 1.5 0 1.5])

pause(0.03)

m(ct) = getframe(gcf)

ct = ct+1

end

end

movie(m)

videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI')

open(videofile)

writeVideo(videofile,m)

close(videofile)

 

Below is the program run in the matlab:

 

video link of forward kinematics of 2r robotic arm: https://drive.google.com/file/d/1tHXoHZQ3KmfdVxuNbk_-KOMmQxhYJTup/view

 

Inserting code sample:

%input
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)
 %co-ordinates
 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 1.5 0 1.5])
 pause(0.03)
 m(ct) = getframe(gcf)
 ct = ct+1
    end
end​