Week 3.2 - 2R Robotic Arm Challenge

AIM

                2R Robotics Arm challenge

GOVERNING EQUATIONS IF ANY

                             x2 = x1 + l2 cos theta2

                              y2 = y1 + l2 sin theta2

                               [x0 , y0] [x1 , y1] [x2 , y2]

OJECTIVES OF THE PROJECT

        This is how the two handed robotics works.

BODY OF THE CONTENT

  -Mention the programming language.

clear all
close all
clc

% Input
l1 = 1;
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 (0.03)
        m(ct) = getframe(gcf);
        ct = ct+1;
    end
end  


   
movie(m)
videofile = VideoWriter('foeward_kinematics,avi','uncompressed AVI');
open(videofile)
writeVideo (videofile,m)
close(videofile)

 -Movie clips or animation link.

https://youtu.be/NUdGiFola00 

CONCLUSION

Final opinion are 2R compete programming and animation.