Week 2- 2R Robotic Arm Challenge

Aim :

• Create an animation file of the plot.
  
  • Uploading an animation on You tube and provide the You tube link for an animation in your report.
  • We can also provide the google drive link.Note: Make sure that you provide the access to the video, while pasting the google drive link.

Governing Equations:

• Formula Used to calculate the Cordinates is

`x1 = l1*cosd(THETA 1)`
`y1 = l1*sind(THETA1);`

`x2 = x1 + l2*cosd(THETA2);`
`y2 = y1 + l2*sind(THETA2);`

• Terms Used are:
  
  • l1= length of arm 1
  • l2= length of arm 2
  • Theta 1 = Angle of arm 1 with respect to base
  • Theta 2 = Angle of arm 2 with respect to arm 1

Objective :

• Uploading an animation on You tube and provide the You tube link for an animation in your report.
• We can also provide the google drive link.Note: Make sure that you provide the access to the video, while pasting the google drive link.

Body OF Content :

Basic Matlab programming language is used for coding

clear all
close all
clc

% Forward Kinematics of a 2R robotic arm manipulator

% Inputs

l1 = 0.75;
l2 = 0.5;

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);
        
        
        %Plotting
        
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
        axis([-0.1 1.5 0 1.5])
        pause(0.003)
        M(ct) = getframe(gcf);
        ct = ct+1;
     end
end
movie(M)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile);
writeVideo(videofile,M);
close(videofile)

line 1- Clear all command clears all the variables which were already present in the command window

line 2 - Close all closes all the workspace variables and the commands

line 3 - clc closes all the plots and windows opened while performing the Run command

line 4 - Indicating the comment as a heading to animate the Forward Kinematics of a 2R robotic arm manipulator

line 5 - Mentions the comment of the inputs to to be added

line 6 - Length of l1 given as 0.75

line 7 -Length of l1 given as 0.5

line 8 - Value of Theta1 is mentioned

line 9 - Value of Theta2 is mentioned

line 10- Value of ct mentioned as 1

line 11 - Creating a for loop for i, where i= 1:length(theta1)

line 12 - Value of THETA1 is figured out from THETA1 = theta1(i)

line 13 - Creating a for loop for j, where j= 1:length(theta2)

line 14 - Value of THETA2 is figured out from THETA2 = theta2(j)

line 15 - Value of x0=0

line 16 - Value of y0=0

line 17 - Value of x1=l1*cosd(THETA1)

line 18 - Value of y1=l1*sind(THETA1)

line 19- Value of x2 =x1 + l2*cosd(THETA2)

line 20- Value of y2 = y1 + l2*sind(THETA2)

line 21- Mentions the comment of the plotting

line 22- Plotting of values x0,y0,x1,y1,x2,y2, Along with the width is given with the command using linewidth.

line 23 - Axis values are mentioned

line 24 - Pause command is used to vary the speed of the animation as per the need and proper visualization

line 25- M(ct) command is used to mention the individual frames, for that getframe command is used.

line 26 - It is the value of the frame to be in increasing order, thats why its given as ct = ct+1

line 27 - End of loop j

line 28 - End of loop i

line 29 - To create a movie a movie command is used

line 30 - Videofile where the file is saved by which name and what extention,Here the file is saved in the name of 'forward_kinematics' under the extention of '.AVI'

line 31 - Videofile is opened using command open(videofile)

line 32 - we write in the file using command writeVideo(videofile,M).

line 33 - videofile should be closed using the command close(videofile)

Results :

ct = 1

Below is the Video created for the animation Uploaded on youtube.