Challenge

Week 2- 2R Robotic Arm Challenge

AAnirban Polle21 Jul 2022

% Program forward kinematics of 2R robotic arm

clear all

close all

clc

% inputs length of the two links of robotic arm

l1=1;

l2=0.4;

% input of counter variable

ct=1;

% inputs of 10 values which makes angle with both links(x axis)

alpha1=linspace(0,90,10);

alpha2=linspace(0,90,10);

% inputs to make loop

for i=1:length(alpha1)

theta1=alpha1(i);

for j=1:length(alpha2)

theta2=alpha2(j);

% inputs co-ordinates for the base link

x0=0;

y0=0;

% calculate co-ordinates for the link 1

x1=l1*cosd(theta1);

y1=l1*sind(theta1);

% calculate co-ordinates for the link 2

x2=x1+l2*cosd(theta2);

y2=y1+l2*sind(theta2);

%plotting the co-oridnates

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3)

axis([-0.1 1.5 0 1.5]);

pause(0.2)

% an array to store frame of graphs

M(ct)=getframe(gcf);

ct=ct+1;

end

% creat a movie where the frames are saved in array M

movie(M)

% details to make video file

videofile = VideoWriter ('2r_forwrdkinematics.avi', 'Uncompressed AVI');

open(videofile);

writeVideo(videofile,M);

close(videofile);

Explanation

Step1: Inputs two length of links of the 2R robotics arm and the variables are l1 and l2

Step2: Input a counter variable

Step3: Taking two array alpha1 and alpha2 which contains ten values of angles with the x-axis

Step4: Start a for loop starting from value 1 to alpha1 that is 10 named theta1

Step5: Start a for inside previous for loop that is alpha2 named theta2

Step6: Inputs value of the base link co-ordinates i.e. x0 & y0

Step7: calculate the values of the co-ordinates x1,y1 and x2,y2 and plot the graph

Step8: the graphs are stored in an array M and end for loop

Step9: create a movie from all those graphs

Step10: Created a name to that videofile

Step11: call a function to open the videofile and write the video an array M

Step 12: call a function to close the video file

Error comes during programing

1. Error-command input wrong

soln-correct the linspace commad

2.Error-Forgot to enter multiplying sign

soln-after giving this it works

Output-

Week 2- 2R Robotic Arm Challenge

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.