Week 2- 2R Robotic Arm Challenge
clear
close
clc
% inputs
link1 = 1;
link2 = 0.5;
theta1 = linspace(0,90,10)
theta2 = linspace(0,90,10)
% solution
ct=1;
for i = 1:length(theta1)
THETA1 = theta1(i)
for j = 1:length(theta2)
THETA2 = theta2(j)
x0 = 0;
y0 = 0;
x1 = link1*cosd(THETA1);
y1 = link2*sind(THETA1);
x2 = x1+link2*cosd(THETA2);
y2 = y1+link2*sind(THETA2);
% PLOTTING
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',3)
axis([-0.5 1.5 0 1.5])
pause(0.3)
M(ct)=getframe(gcf);
ct=ct+1
end
end
movie(M)
videofile=VideoWriter('forward_kinematic.avi','uncompressed avi')
open(videofile)
writeVideo(videofile,M)
close(videofile)Aim : To create a program for forward kinematic of robotic arm
Forward Kinematic : process of obtaining position and velocity of end effector ,given the known joint angles and angular velocities
The Youtube Link for Forward Kinematic of Robotic Arm