Week 2- 2R Robotic Arm Challenge

PROGRAM

%forword kinamatic program

clear all

close all

clc

%inputs

l1=2;

l2=4;

theta1=linspase(0,90,10

theta2=linespase(0,85,10);

ct=1;

for i=lenth(theta1)

THETA1=theta1(i);

for j=lenth(theta2)

THETA2=theta2(j);

x0=0;

yo=0;

x1=l1*cosd(THETA1);

y1=y1l*sind(THETA1);

x2=x1+cosd(THETA2);

y2=y1+cosd(THETA2);

%plotting

plot([xo x1],[y0 y1],[x1 x2][,y1 y2],'linewidth'3)

axies([-0.1 3.5 0 3.5])

puse(0.1)

M(ct)=getframe(gcf);

ct=ct+1;

end

end

%To create animation of forword kinamatics

movie(M)

videofile=videowriter('forword kinamatic avi','Ucompressed AVI');

open( videofile)

writevideo(videofile,M);

close(videofile)

PRESENTATION

1.linspace - used for angle set (0,90)

2.theta-use to show the angle function

3.cosd&sind- use to the trigonamatric function

4.for&end-show for b the for loop

5.plot-use to plot the command.

6.axies-to menshion the axies on the graph

7.puse-puse the function

8.movie -to create a movie

9.videowriter-write the text on video

10.open-to open the video

11.close-to close the video

12.writevideo-to show the video