Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1HUFlPokJagNdMlOIFG4uBryLo_J3k1Er/view?usp=sharing

% FORWORD KINEMATIC OF A ROBOTIC ARM

now write the code

close all

clear all

clc

% INPUTS

l1=0.8;

l2=0.6;

theta1=45;

theta2=30;

%COORDINATES

x0=0;

y0=0;

x1=l1*cosd(theta1);

y1=l1*sind(theta2);

x2= x1+l2*cosd(theta2);

y2= y1+l2*sind(theta2);

now exicte the code

now plotting

line([x0 x1],[y0 y1],'linewidth',4,'color',b)

line([x1 x2],[y1 y2],'linewidth',4,'color',r)

now exicute the programme

now the ANIMATION OF A ROBOTIC ARM

noe we tack new window

close all

clear all

clc

% inputs

l1=0.8;

l2=0.6;

theta1=linspace(0,90,10);

theta2=linspace(0,90,10);

ct=1;

now we tack forloop

for i=1:length(theta1)

theta1=theta1(i); the i= [1,2,3,4,5,,6,7,8,9,10]

for j=1:length(theta2)

theta2=theta2(j);

and copy the values like x0,y0,x1,x2,y1,y2

the values are shown by the above inputs

now the PLOTTING

plot([xo x1],[y0 y1],[x1 x2],[y2 y2];'linewiidth',4)

axis ([-0.15 1.5 0 1.5])

pause(0.03)

M(ct)=getframe(gcf);

ct=ct+1;

end

end

now the movie file

movie(M)

videofile=videowriter('forword_kinematics.avi',uncomprssed AVI');

open(videofile)

write video(videofile,M)

close(videofile)

THE ANIMATION OF ROBOTIC ARM SHOWN BY THE BELOW GOOGLE DRIVE LINK

https://drive.google.com/file/d/1HUFlPokJagNdMlOIFG4uBryLo_J3k1Er/view?usp=sharing

hence i am write the code i am facing some errors , we the errors are shown by the command window

and what made my mistacke and what will give the correct values are shown by the command window

some of the errors are shown the below in the form if screenshots