Week 3.2 - 2R Robotic Arm Challenge

Aim: To create an animation file of the plot.

To upload an animation on You tube and provide the You tube link for an animation in your report.

Governing Equatin:

To calculate the end co-ordinates of the first arm we are using,

x1 = l1*cosd(theta1)

y1 = l1*sind(theta1)

where 'l1' is the length of the first arm and theta1 is the angle made by the arm with x-axis.

To calculate the end co-ordinates of the second arm we are using,

x2 = l2*cosd(theta2)

y2 = l2*sind(theta2)

where 'l2' is the length of the first arm and theta2 is the angle made by the arm with x-axis.

The X component of a given vector is calculated by the cosine ratio and the Y component of a given vector is calculated by the sine ratio.

Main Objective:

To simulate the movement of a robotic arm.

Programme:

clear  
close all
clc

%Inputs
l1 = 2;
l2 = 1;

theta1 = linspace(360,270,10);
theta2 = linspace(360,270,10);

ct = 1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
    
    for j = 1:length(theta2)
      THETA2 = theta2(j);
   
% Co-ordinates 

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',4)
 axis([-0.5 3.5 -3.5 2])
 pause(0.03)
 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)

Explanation:

The theta angle range is taken from industrial observations.

Considering the length of the Arms,

l1 = 2

l2 = 1

The values of theta1 for first arm range from 360 degrees to 270 degrees for 10 values respectively.

theta1 = linspace(360,270,10);

The values of theta2 for second arm range from 360 degrees to 270 degrees for 10 values respectively.

theta2 = linspace(360,270,10);

The counter starts atthe first value and is then incremented.

For loop is used so we can get different position of second arm for a particular position of the first arm.

Here (i) is the variable which is used to define different values of theta1.

THETA1 is a variable for the corresponding value of (i).

for i = 1:length(theta1)
    THETA1 = theta1(i);
    

Here (j) is the variable which is used to define different values of theta2.

THETA2 is a variable for the corresponding value of (j).

for j = 1:length(theta2)
    THETA2 = theta1(j);
    

Keepinf the co-ordinates of x0 and y0 at origin and calculating the co-ordinates for x1,y1 and x2,y2

x0 = 0; 
y0 = 0;

x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);

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

Plotting the graph for the movement of the robotic arm.

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',4)
 axis([-0.5 3.5 -3.5 2])
 pause(0.03)
 M(ct) = getframe(gcf);
 ct = ct+1;

Making a movie file for the graph plotted.

movie(M)
videofile = VideoWriter('Forward_kinematics.avi','Uncompressed Avi');
open(videofile)
writeVideo(videofile,M)
close(videofile)

Results:

The link for the aniation obtained from the above programme.

https://drive.google.com/file/d/1tq0q6rn2aTnsQsyx6ljSY1fnz3JYrkCB/view?usp=sharing

Conclusion:

Hence the graph was ploted and animation was created for the forward kinematics of 2R robotic arm.