Week 2- 2R Robotic Arm Challenge
Program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.
l1=1
l1 =
1
l2=0.5
l2 =
0.5000
theta1=45
theta1 =
45
theta2=30
theta2 =
30
% coordinates
x0=0
y0=0
x0 =
0
y0 =
0
x1 = l1*cosd(theta1);
y1 = l1*sind(theta1);
x2 = x1+l1*cosd(theta2);
y2 = y1+l1*sind(theta2);
% plotting
line([x0 x1],[y0 y1],'linewidth',4,'color','b')
line([x1 x2],[y1 y2],'linewidth',4,'color','r')
forward kinematics of a 2R Robotic Arm code
clear all
close all
clc
l1&l2- Lenght of arm (link)
l1 = 1
l2 = 0.5
Theta1 & Theta2- Angle of both arms (links) with the horizontal axis.
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);
x0 = 0
y0 = 0
x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);
x2 = x1+l1*cosd(THETA2);
y2 = y1+l1*sind(THETA2);
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',4,'color','g')
axis([-0.1 1.5 0 1.5])
pause(0.03)
ct=ct+1
m(ct)=getframe(gcf);
end
end
movie(m)
videofile =VideoWriter('forward kinematic.avi','Uncompressed AVI');
open(videofile)
wirtervideo(videofile,m)
close(videofile)
google drive link of forward kinematics of a 2R Robotic Arm
https://drive.google.com/file/d/10BeDaNg8M1HIbB382X1F01ZO-NCZw2J6/view?usp=sharing