Week 2- 2R Robotic Arm Challenge

Aim:

Write a program in MATLAB to simulate the forward kinematics of 2R Robotic Arm.

Solution:

Robot has two arms with length L1 = 1 m and L2 = 0.5 m with angles with base = θ1 and between L1 and L2 = θ2.

Base of the Robot: X0 = 0, Y0 = 0

Link1 and Link2 connector:

X1 = l1*math.cos(t1), Y1 = l1*math.sin(t1)

Coordinates of the manipulator:

X2 = X1 + l2*math.cos(t2), Y2 = Y1 + l2*math.sin(t2)

Program:

% Forward Kinematic of 2R Robotic arm 
clear all
close all
clc

% Inputs
l1 = 1
l2 = 0.5
ct = 1
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

for i = 1:length(theta1)
    THETA1 = theta1(i)
    for j = 1:length(theta2)
        THETA2 = theta2(j)

        % Coordinates 
        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 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)

Conclusion:

By running this code, we get 100 plots. which helps to analyze the manipulator location with different θ1 and θ2 combinations through the animation.

Link for the Animation :

https://drive.google.com/file/d/1b6_LEn557ey9AdTqYkt4rBqzYq1hwBTa/view?usp=sharing