Week 3.2 - 2R Robotic Arm Challenge

                               

                                      Report
AIM:

1.To find out workspace of forward Kinematics 2R robotic arm manipulator.
2.Create animationto visualize of manipulator.

 

Objectives of the project:
    To find out the possible locations where a manipulator can reach.
    Forward kinematic logic is used in Matlab to find possible locations of manipulator 
    with creating movie. 



Body of the content:
Incase of programming project


clear
close
clc

% Inputs

l1=1;
l2=0.5;

theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

ct=1;
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);

         % Ploting

         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

movie(M)
videofile = VideoWriter("forward_kinematics.avi","Uncompressed AVI");
open(videofile)
writeVideo(videofile,M)
close(videofile)



Incase of simulation project

Video uploaded on Youtube link has provided below
https://youtu.be/7B-N9Dy8Z0g

 


Conclusion   
With the help of Matlab and using forward kinematics we have created movie of 2R robotic arm manipulator so that we can analyze workspace.