Week 3.2 - 2R Robotic Arm Challenge

clear all
close all
clc
%definition of length of link 1 and 2

l1= 2
l2 =0.3

%definition of angles
 theta1= linspace(0,90,20);
 theta2= linspace(0,90,20);

ct=1;
%calculation of positions
for i= 1:length(theta1)

   temp1 = theta1(i);

for j= 1:length(theta2)

    temp2  =theta2(j);


x0= 0;
y0 =0;

x1 =l1*cosd(temp1);
y1 =l1*sind(temp1);
figure(1)


x2 =x1+2*cosd(temp2);
y2 = y1+2*sind(temp2);

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2]);
axis([0 3 0 3])
pause(0.001)
M(ct)=getframe(gcf);

ct=ct+1;

end

end
movie(M)
videofile =VideoWriter('ques5.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)


​

11 =

2

12 =

0.3000

videofile =

VideoWriter

General Properties:

Filename: 'ques5.avi'
Path: 'C:\Users\Shruti Jadhav\Documents\MATLAB'
FileFormat: 'avi'
Duration: 0

Video Properties:

ColorChannels: 3
Height: []
Width: []
FrameCount: 0
FrameRate: 30
VideoBitsPerPixel: 24
VideoFormat: 'RGB24'
VideoCompressionMethod: 'None'

Methods

>>

• input the given data by assigning suitable variables and here the we are using the "linspace" command to get the different values of theta1 and theta2 as per range mention in above code.
• After assigning the data, "for loop" command is used for assigning different values to theta1 as in THETA1 and similarly for theta2 as in THETA2.
• In next, input the coordinates for forward kinematic movement of 2R roboticarm.
• Then, using the "plot()" command plotting all the value of coordinates in graph.
• for better animation, using the "ctr=1...ct=ct+1" command for contouring frame.
• for making animation video, i'm using,