Week 3.2 - 2R Robotic Arm Challenge

AIM- 1 - Writing a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

2 - Uploading the animation file to the drive.

GOVERNING EQUATION -

x1 = l1*cosd(THETA1)

y1 = l1*sind(THETA1)

x2 = x1 + l2*cosd(THETA2)

y2 = y1 + l2*sind(THETA2)

CODE - ( Input )

% inputs

l1=1;
l2=0.5;
theta1 = linspace(0,90,40);
theta2 = linspace(0,90,40);
% forward kinematic for a 2R robotic arm manipulator

ct = 1;

for i = 1 : length(theta1)
    THETA1 = theta1(i);
    for j = 1 : length(theta2)
        THETA2 = theta1(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,'color','b');
   axis([-0.1 1.5 0 1.5 ])
   M(ct)=getframe(gcf);
 
   ct=ct+1;
    end
end 

videofile = VideoWriter('roboarm.avi')
open(videofile)
writeVideo(videofile,M)
close(videofile)

LINK OF THE ANIMATION VIDEO-

https://drive.google.com/file/d/1SWzGCZCcFxyoiIm0sjoArn_Le6jYiB3D/view?usp=sharing

OBJECTIVE -

Writing a code for the forward kinematic 2R robotic arm with the animation video output.

BODY OF CONTENT -

1 - Given all the inputs required for the code animation.

2 - putting all the governing equation in the for loop command.

3 - By using plot command did the animation.

CONCLUSON -

After writing the code we can conclude that the animation of the 2R robotic arm.