Week 3.2 - 2R Robotic Arm Challenge
Aim :- simulate the forward kinematic of 2R robotic arm & creat animation video in plote.
This file in show
01. Matlab code jpg
02. Output data (run the script file copy output and paste)
03. Attach the robotic_arm.m script file
04. Attach video file robotic_arm.avi file
01. Matlab input code
02. Output data (run the script file copy output and paste)
theta1 =
Columns 1 through 8
0 9.00 18.00 27.00 36.00 45.00 54.00 63.00
Columns 9 through 11
72.00 81.00 90.00
theta2 =
Columns 1 through 8
0 5.00 10.00 15.00 20.00 25.00 30.00 35.00
Columns 9 through 16
40.00 45.00 50.00 55.00 60.00 65.00 70.00 75.00
Columns 17 through 19
80.00 85.00 90.00
l1 =
1.00
l2 =
0.50
x0 =
0
y0 =
0
theta1 = 0.000000
x1 =
1.00
y1 =
0
theta2 = 0.000000
x2 =
1.50
y2 =
0
theta2 = 5.000000
x2 =
1.50
y2 =
0.04
theta2 = 10.000000
x2 =
1.49
y2 =
0.09
theta2 = 15.000000
x2 =
1.48
y2 =
0.13
theta2 = 20.000000
x2 =
1.47
y2 =
0.17
theta2 = 25.000000
x2 =
1.45
y2 =
0.21
theta2 = 30.000000
x2 =
1.43
y2 =
0.25
theta2 = 35.000000
x2 =
1.41
y2 =
0.29
theta2 = 40.000000
x2 =
1.38
y2 =
0.32
theta2 = 45.000000
x2 =
1.35
y2 =
0.35
theta2 = 50.000000
x2 =
1.32
y2 =
0.38
theta2 = 55.000000
x2 =
1.29
y2 =
0.41
theta2 = 60.000000
x2 =
1.25
y2 =
0.43
theta2 = 65.000000
x2 =
1.21
y2 =
0.45
theta2 = 70.000000
x2 =
1.17
y2 =
0.47
theta2 = 75.000000
x2 =
1.13
y2 =
0.48
theta2 = 80.000000
x2 =
1.09
y2 =
0.49
theta2 = 85.000000
x2 =
1.04
y2 =
0.50
theta2 = 90.000000
x2 =
1.00
y2 =
0.50
theta1 = 9.000000
x1 =
0.99
y1 =
0.16
theta2 = 0.000000
x2 =
1.49
y2 =
0.16
theta2 = 5.000000
x2 =
1.49
y2 =
0.20
theta2 = 10.000000
x2 =
1.48
y2 =
0.24
theta2 = 15.000000
x2 =
1.47
y2 =
0.29
theta2 = 20.000000
x2 =
1.46
y2 =
0.33
theta2 = 25.000000
x2 =
1.44
y2 =
0.37
theta2 = 30.000000
x2 =
1.42
y2 =
0.41
theta2 = 35.000000
x2 =
1.40
y2 =
0.44
theta2 = 40.000000
x2 =
1.37
y2 =
0.48
theta2 = 45.000000
x2 =
1.34
y2 =
0.51
theta2 = 50.000000
x2 =
1.31
y2 =
0.54
theta2 = 55.000000
x2 =
1.27
y2 =
0.57
theta2 = 60.000000
x2 =
1.24
y2 =
0.59
theta2 = 65.000000
x2 =
1.20
y2 =
0.61
theta2 = 70.000000
x2 =
1.16
y2 =
0.63
theta2 = 75.000000
x2 =
1.12
y2 =
0.64
theta2 = 80.000000
x2 =
1.07
y2 =
0.65
theta2 = 85.000000
x2 =
1.03
y2 =
0.65
theta2 = 90.000000
x2 =
0.99
y2 =
0.66
theta1 = 18.000000
x1 =
0.95
y1 =
0.31
theta2 = 0.000000
x2 =
1.45
y2 =
0.31
theta2 = 5.000000
x2 =
1.45
y2 =
0.35
theta2 = 10.000000
x2 =
1.44
y2 =
0.40
theta2 = 15.000000
x2 =
1.43
y2 =
0.44
theta2 = 20.000000
x2 =
1.42
y2 =
0.48
theta2 = 25.000000
x2 =
1.40
y2 =
0.52
theta2 = 30.000000
x2 =
1.38
y2 =
0.56
theta2 = 35.000000
x2 =
1.36
y2 =
0.60
theta2 = 40.000000
x2 =
1.33
y2 =
0.63
theta2 = 45.000000
x2 =
1.30
y2 =
0.66
theta2 = 50.000000
x2 =
1.27
y2 =
0.69
theta2 = 55.000000
x2 =
1.24
y2 =
0.72
theta2 = 60.000000
x2 =
1.20
y2 =
0.74
theta2 = 65.000000
x2 =
1.16
y2 =
0.76
theta2 = 70.000000
x2 =
1.12
y2 =
0.78
theta2 = 75.000000
x2 =
1.08
y2 =
0.79
theta2 = 80.000000
x2 =
1.04
y2 =
0.80
theta2 = 85.000000
x2 =
0.99
y2 =
0.81
theta2 = 90.000000
x2 =
0.95
y2 =
0.81
theta1 = 27.000000
x1 =
0.89
y1 =
0.45
theta2 = 0.000000
x2 =
1.39
y2 =
0.45
theta2 = 5.000000
x2 =
1.39
y2 =
0.50
theta2 = 10.000000
x2 =
1.38
y2 =
0.54
theta2 = 15.000000
x2 =
1.37
y2 =
0.58
theta2 = 20.000000
x2 =
1.36
y2 =
0.63
theta2 = 25.000000
x2 =
1.34
y2 =
0.67
theta2 = 30.000000
x2 =
1.32
y2 =
0.70
theta2 = 35.000000
x2 =
1.30
y2 =
0.74
theta2 = 40.000000
x2 =
1.27
y2 =
0.78
theta2 = 45.000000
x2 =
1.24
y2 =
0.81
theta2 = 50.000000
x2 =
1.21
y2 =
0.84
theta2 = 55.000000
x2 =
1.18
y2 =
0.86
theta2 = 60.000000
x2 =
1.14
y2 =
0.89
theta2 = 65.000000
x2 =
1.10
y2 =
0.91
theta2 = 70.000000
x2 =
1.06
y2 =
0.92
theta2 = 75.000000
x2 =
1.02
y2 =
0.94
theta2 = 80.000000
x2 =
0.98
y2 =
0.95
theta2 = 85.000000
x2 =
0.93
y2 =
0.95
theta2 = 90.000000
x2 =
0.89
y2 =
0.95
theta1 = 36.000000
x1 =
0.81
y1 =
0.59
theta2 = 0.000000
x2 =
1.31
y2 =
0.59
theta2 = 5.000000
x2 =
1.31
y2 =
0.63
theta2 = 10.000000
x2 =
1.30
y2 =
0.67
theta2 = 15.000000
x2 =
1.29
y2 =
0.72
theta2 = 20.000000
x2 =
1.28
y2 =
0.76
theta2 = 25.000000
x2 =
1.26
y2 =
0.80
theta2 = 30.000000
x2 =
1.24
y2 =
0.84
theta2 = 35.000000
x2 =
1.22
y2 =
0.87
theta2 = 40.000000
x2 =
1.19
y2 =
0.91
theta2 = 45.000000
x2 =
1.16
y2 =
0.94
theta2 = 50.000000
x2 =
1.13
y2 =
0.97
theta2 = 55.000000
x2 =
1.10
y2 =
1.00
theta2 = 60.000000
x2 =
1.06
y2 =
1.02
theta2 = 65.000000
x2 =
1.02
y2 =
1.04
theta2 = 70.000000
x2 =
0.98
y2 =
1.06
theta2 = 75.000000
x2 =
0.94
y2 =
1.07
theta2 = 80.000000
x2 =
0.90
y2 =
1.08
theta2 = 85.000000
x2 =
0.85
y2 =
1.09
theta2 = 90.000000
x2 =
0.81
y2 =
1.09
theta1 = 45.000000
x1 =
0.71
y1 =
0.71
theta2 = 0.000000
x2 =
1.21
y2 =
0.71
theta2 = 5.000000
x2 =
1.21
y2 =
0.75
theta2 = 10.000000
x2 =
1.20
y2 =
0.79
theta2 = 15.000000
x2 =
1.19
y2 =
0.84
theta2 = 20.000000
x2 =
1.18
y2 =
0.88
theta2 = 25.000000
x2 =
1.16
y2 =
0.92
theta2 = 30.000000
x2 =
1.14
y2 =
0.96
theta2 = 35.000000
x2 =
1.12
y2 =
0.99
theta2 = 40.000000
x2 =
1.09
y2 =
1.03
theta2 = 45.000000
x2 =
1.06
y2 =
1.06
theta2 = 50.000000
x2 =
1.03
y2 =
1.09
theta2 = 55.000000
x2 =
0.99
y2 =
1.12
theta2 = 60.000000
x2 =
0.96
y2 =
1.14
theta2 = 65.000000
x2 =
0.92
y2 =
1.16
theta2 = 70.000000
x2 =
0.88
y2 =
1.18
theta2 = 75.000000
x2 =
0.84
y2 =
1.19
theta2 = 80.000000
x2 =
0.79
y2 =
1.20
theta2 = 85.000000
x2 =
0.75
y2 =
1.21
theta2 = 90.000000
x2 =
0.71
y2 =
1.21
theta1 = 54.000000
x1 =
0.59
y1 =
0.81
theta2 = 0.000000
x2 =
1.09
y2 =
0.81
theta2 = 5.000000
x2 =
1.09
y2 =
0.85
theta2 = 10.000000
x2 =
1.08
y2 =
0.90
theta2 = 15.000000
x2 =
1.07
y2 =
0.94
theta2 = 20.000000
x2 =
1.06
y2 =
0.98
theta2 = 25.000000
x2 =
1.04
y2 =
1.02
theta2 = 30.000000
x2 =
1.02
y2 =
1.06
theta2 = 35.000000
x2 =
1.00
y2 =
1.10
theta2 = 40.000000
x2 =
0.97
y2 =
1.13
theta2 = 45.000000
x2 =
0.94
y2 =
1.16
theta2 = 50.000000
x2 =
0.91
y2 =
1.19
theta2 = 55.000000
x2 =
0.87
y2 =
1.22
theta2 = 60.000000
x2 =
0.84
y2 =
1.24
theta2 = 65.000000
x2 =
0.80
y2 =
1.26
theta2 = 70.000000
x2 =
0.76
y2 =
1.28
theta2 = 75.000000
x2 =
0.72
y2 =
1.29
theta2 = 80.000000
x2 =
0.67
y2 =
1.30
theta2 = 85.000000
x2 =
0.63
y2 =
1.31
theta2 = 90.000000
x2 =
0.59
y2 =
1.31
theta1 = 63.000000
x1 =
0.45
y1 =
0.89
theta2 = 0.000000
x2 =
0.95
y2 =
0.89
theta2 = 5.000000
x2 =
0.95
y2 =
0.93
theta2 = 10.000000
x2 =
0.95
y2 =
0.98
theta2 = 15.000000
x2 =
0.94
y2 =
1.02
theta2 = 20.000000
x2 =
0.92
y2 =
1.06
theta2 = 25.000000
x2 =
0.91
y2 =
1.10
theta2 = 30.000000
x2 =
0.89
y2 =
1.14
theta2 = 35.000000
x2 =
0.86
y2 =
1.18
theta2 = 40.000000
x2 =
0.84
y2 =
1.21
theta2 = 45.000000
x2 =
0.81
y2 =
1.24
theta2 = 50.000000
x2 =
0.78
y2 =
1.27
theta2 = 55.000000
x2 =
0.74
y2 =
1.30
theta2 = 60.000000
x2 =
0.70
y2 =
1.32
theta2 = 65.000000
x2 =
0.67
y2 =
1.34
theta2 = 70.000000
x2 =
0.63
y2 =
1.36
theta2 = 75.000000
x2 =
0.58
y2 =
1.37
theta2 = 80.000000
x2 =
0.54
y2 =
1.38
theta2 = 85.000000
x2 =
0.50
y2 =
1.39
theta2 = 90.000000
x2 =
0.45
y2 =
1.39
theta1 = 72.000000
x1 =
0.31
y1 =
0.95
theta2 = 0.000000
x2 =
0.81
y2 =
0.95
theta2 = 5.000000
x2 =
0.81
y2 =
0.99
theta2 = 10.000000
x2 =
0.80
y2 =
1.04
theta2 = 15.000000
x2 =
0.79
y2 =
1.08
theta2 = 20.000000
x2 =
0.78
y2 =
1.12
theta2 = 25.000000
x2 =
0.76
y2 =
1.16
theta2 = 30.000000
x2 =
0.74
y2 =
1.20
theta2 = 35.000000
x2 =
0.72
y2 =
1.24
theta2 = 40.000000
x2 =
0.69
y2 =
1.27
theta2 = 45.000000
x2 =
0.66
y2 =
1.30
theta2 = 50.000000
x2 =
0.63
y2 =
1.33
theta2 = 55.000000
x2 =
0.60
y2 =
1.36
theta2 = 60.000000
x2 =
0.56
y2 =
1.38
theta2 = 65.000000
x2 =
0.52
y2 =
1.40
theta2 = 70.000000
x2 =
0.48
y2 =
1.42
theta2 = 75.000000
x2 =
0.44
y2 =
1.43
theta2 = 80.000000
x2 =
0.40
y2 =
1.44
theta2 = 85.000000
x2 =
0.35
y2 =
1.45
theta2 = 90.000000
x2 =
0.31
y2 =
1.45
theta1 = 81.000000
x1 =
0.16
y1 =
0.99
theta2 = 0.000000
x2 =
0.66
y2 =
0.99
theta2 = 5.000000
x2 =
0.65
y2 =
1.03
theta2 = 10.000000
x2 =
0.65
y2 =
1.07
theta2 = 15.000000
x2 =
0.64
y2 =
1.12
theta2 = 20.000000
x2 =
0.63
y2 =
1.16
theta2 = 25.000000
x2 =
0.61
y2 =
1.20
theta2 = 30.000000
x2 =
0.59
y2 =
1.24
theta2 = 35.000000
x2 =
0.57
y2 =
1.27
theta2 = 40.000000
x2 =
0.54
y2 =
1.31
theta2 = 45.000000
x2 =
0.51
y2 =
1.34
theta2 = 50.000000
x2 =
0.48
y2 =
1.37
theta2 = 55.000000
x2 =
0.44
y2 =
1.40
theta2 = 60.000000
x2 =
0.41
y2 =
1.42
theta2 = 65.000000
x2 =
0.37
y2 =
1.44
theta2 = 70.000000
x2 =
0.33
y2 =
1.46
theta2 = 75.000000
x2 =
0.29
y2 =
1.47
theta2 = 80.000000
x2 =
0.24
y2 =
1.48
theta2 = 85.000000
x2 =
0.20
y2 =
1.49
theta2 = 90.000000
x2 =
0.16
y2 =
1.49
theta1 = 90.000000
x1 =
0
y1 =
1.00
theta2 = 0.000000
x2 =
0.50
y2 =
1.00
theta2 = 5.000000
x2 =
0.50
y2 =
1.04
theta2 = 10.000000
x2 =
0.49
y2 =
1.09
theta2 = 15.000000
x2 =
0.48
y2 =
1.13
theta2 = 20.000000
x2 =
0.47
y2 =
1.17
theta2 = 25.000000
x2 =
0.45
y2 =
1.21
theta2 = 30.000000
x2 =
0.43
y2 =
1.25
theta2 = 35.000000
x2 =
0.41
y2 =
1.29
theta2 = 40.000000
x2 =
0.38
y2 =
1.32
theta2 = 45.000000
x2 =
0.35
y2 =
1.35
theta2 = 50.000000
x2 =
0.32
y2 =
1.38
theta2 = 55.000000
x2 =
0.29
y2 =
1.41
theta2 = 60.000000
x2 =
0.25
y2 =
1.43
theta2 = 65.000000
x2 =
0.21
y2 =
1.45
theta2 = 70.000000
x2 =
0.17
y2 =
1.47
theta2 = 75.000000
x2 =
0.13
y2 =
1.48
theta2 = 80.000000
x2 =
0.09
y2 =
1.49
theta2 = 85.000000
x2 =
0.04
y2 =
1.50
theta2 = 90.000000
x2 =
0
y2 =
1.50
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