Week 2- 2R Robotic Arm Challenge

Program script to make a animation vedio of fordward kinamatic of a 2R robotic arm

We need to analyse the movements of robotic arm and endpoints when rotation angle changes.

Program:

% fordward kinamatic simulations of a 2R robotic arm
% inputs length of the robotic links

l1 = 2; % length of link 1
l2 = 2.5; % length of link 2
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;

for i = 1:length(theta1)
A = theta1(i);
for j = 1:length(theta2)
B = theta2(j);
x0 = 0;
y0 = 0;
x1 = l1*cosd(A);
y1 = l1*sind(A);
x2 = x1+l2*cosd(B);
y2 = y1+l2*sind(B);

% plotting and making a simulation vedio

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2])
axis ([-3 5 0 5]);
pause(0.03);
m(ct) = getframe(gcf);
ct = ct+1;
end
end
movie(m)
vediofile = VedioWriter('Fordward_kinamatics','simulation_AVI')
open(vediofile)
writerVedio(vediofile,m)
close(vediofile)

Script comments:

First we to take the inputs values like:

Length of robotic links

l1 and L2

robotic links angles

Theta1 and Theta2

we need to generate given set of range values by using linspace command.

By using for loop command we can generate the number of counters.

Inside the for loop we need to give the link end points co-ordinates

Plotting the figures with some delay using pause(sec)

Movie making we need to get the set of frames by using getframe command

Give a movie file name and exicute the movie.