Week 2- 2R Robotic Arm Challenge

https://youtu.be/pmNIQ_yvVUc

% program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

clear all
close all
clc

%inputs

L1=1.5;
L2=0.5;

% angle of arm
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 of robotics arm
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 2.5 0 2.5])
pause(0.1)
M(ct) = getframe(gcf);
ct=ct+1;


end
end
%animation video file
movie(M)
videofile = VideoWriter('kinametics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

• output

youtube link for animation:

https://youtu.be/pmNIQ_yvVUc

Explanation:

• first of all we have to consider two arms L1 and L2

with some lenght.

L1=1.5;
L2=0.5;

• angle of arms

theta1=linspace(0,90,11);
theta2=linspace(0,90,11);

• for changing the angle of arms

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

setting cordinates of both the arms

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)
• linewidth is for making arm broad
• providing axis to arm

axis([-0.1 2.5 0 2.5])

• making animation movie

movie(M)
videofile = VideoWriter('kinametics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

error:permission denied solved by changing the path of file saved