Week 3.2 - 2R Robotic Arm Challenge

Aim- Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

Create and upload an 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)

Objective of the project-

1)Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

2)Create and upload an animation file to the drive.

Body of Content-

1) Used for Loop

2) Created an Animation

3) Used Plot & linspace command

Code-

%animation_forward_arm
clear all
close all
clc



%inputs%


l1 = 1 %length of arm1
l2 = 0.6 %length of arm2
theta1 = linspace(0,90,40)
theta2 = linspace(0,90,40)
ct=1;

%for loop implimentation%


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

%for video creation%

videofile =VideoWriter('roboticarm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)