Week 2- 2R Robotic Arm Challenge

                                             CHALLENGE:4

• Writing a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video.

• %program in Matlab to simulate the forward kinematics of a 2R Robotic Arm
  
  clear all
  close all
  clc
  
  
  %given data
  l1 = 1.5;
  l2 = 2;
  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 + l2*cosd(THETA2);
  y2 = y1 + l2*sind(THETA2);
  
  
  plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
  axis([-0.1 5 0 5])
  pause(0.03)
  
  M(ct)=getframe(gcf);
  ct=ct+1;
  grid on
  
      end
  end
  movie(M)
  videofile= VideoWriter('forward_kinematics.avi','uncompressed AVI');
  open(videofile)
  writeVideo(videofile,M)
  close
  

• RESULT:

YouTube LINK:

https://youtu.be/AeIXuIjj0kY

• Step-wise explanation of my code:
• Here, first I'm giving comment "program in Matlab to simulate the forward kinematics of a 2R Robotic Arm" using the "%" command in Matlab.
• Then, input the given data by assigning suitable variables and here the we are using the "linspace" command to get the different values of theta1 and theta2 as per range  mention in above code.
• After assigning the data, i'm using the "for loop" command for assigning different values to theta1 as in THETA1 and similarly for theta2 as in THETA2.
• In next, i'm input the  coordinates for forward kinematic movement of 2R roboticarm.
• Then, using the "plot()" command plotting all the value of coordinates in graph.
• for better animation, i'm using the "ctr=1...ct=ct+1" command for contouring frame.
• for making animation video, i'm using,