Challenge

Week 3.2 - 2R Robotic Arm Challenge

RRahul Bhagat27 Dec 2022

AIM : To simulate the forward kinematics of a 2R Robotic Arm

THEORY :

Kinematics is the analysis of motion without considering the forces. Here, we need only geometric properties such as length and degree of freedom of the manipulator bodies.

Forward kinematics refers to use of kinematics equation of a robot to compute the position of end effector from specified values for the joint parameters.

If we know the geometry of the robot and all its joint points, we can do the math and figure out the position and orientation of any point on the robot. i.e, if we can able to figure out how the robot is going to move then we can figure out its workspace (workspace refers to possible location that the robot can reach).

These robots have various complex industrial application

Welding in automobile industry.
Material handling.
Assembly operations.
Machine loading and unloading.
Spray painting of automobile bodies.

CODE :

clear all

close all

clc

% defining values of lengths of the arms and the angles

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,90,20);

theta2 = linspace(0,90,20);

% initiating a counter

ct = 1;

% looping for indexing values of THETA

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 the lines to form the robotic arm

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

axis([-0.1 1.5 0 1.5])

% getframe to for frames for each plots

M(ct) = getframe(gcf);

ct = ct+1;

end

% videofile creation through video writer

videofile = VideoWriter('forward_kinematics.avi');

open(videofile)

writeVideo(videofile,M)

close(videofile)

CODE OUTPUT :

https://youtu.be/dHxVWQUljmc

CODE EXPLANATION:

Clear all : to clear the workspace before proceeding with new variables

close all : to close all figure windows opened

clc : to clear command window

l1, l2, theta1, theta2 : defining the variables for length of the two arms and angle made by them with the horizontal

ct : defining the counter to increment the code afte execution of the loop

for loop : for loop used for indexing the values of THETA as per changes in values of i

x0,y0,x1,y1 = defining the connecting points with formulas for the plot

plot = for plotting the lines joing the links of the arm used for the video

axis = to define the points on the plot with limits on the x and y axis

getframe = to develop frames from each plot execution

video file = to save the name of the video file in AVI format

open,write and close video = to open a video file, write the video in the same and close it.

References :

https://www.google.com/search?q=2r+robotic+arm&sxsrf=ALiCzsayZWOnRAE_alMMnsJwu1AyH5L1vA:1672153125984&source=lnms&tbm=isch&sa=X&ved=2ahUKEwjS-9Xoh5r8AhW4xDgGHRjZAlIQ_AUoAXoECAEQAw&biw=1536&bih=714&dpr=1.25

https://medium.com/@neerajdixit_55283/forward-kinematics-of-a-2r-robotic-arm-bd9502d70fbc

Week 3.2 - 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.