Week 3.2 - 2R Robotic Arm Challenge

% Forward kinematics of a 2R robotic arm manipulator

clear all

close all

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);

% plotting

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'LineWidth',2);

axis([-0.1 1.5 0 1.5]);

pause(0.03);

M(ct)=getframe(gcf);

ct=ct+1;

end

end

% movie commands

movie(M)

Videofile = VideoWriter ('forward_kinematics.avi','Uncompressed AVI');

open(Videofile)

writeVideo(Videofile,M)

close(Videofile)

A loop in general,refers to anything whose start and end points are connected. That is once you begin from the start point a proceed further,you will reach the finish line just to find that it once again guides you to the same point where you started.Proceeding further means that you are repeating your same action again & again.

Nested for loops places one for loop inside another for loop. The inner loop is repeated for each iteration of the outer loop.we are going to finish introduce the concept of nested control structures. Nesting is a concept that places one item inside of another.

1-clear all data

2-clear figure/plot

3-clear all data in the command window

4-enter the input value from the equation

5-assuming the length of link 1

6-assuming the length of link 2

7-angle of traverse of first link

8-angle of traverse of second link

9-initialize the counter command

10-to move the robotic arm continuously using for loop

11-the value i is going to change from 1 to length of θ1

12-the value j is going to change from 1 to length of θ2

13-enter the value of co-ordinates

14-enter the plot value

15-axis command is used for fixing axes - changing x - limits and y - limits

16-pause command used for slow down the output

17-use getframe command to get individual frame and stored in variable M

18-the incrementing the counter value by 1

19-end command is used to end the for loops

20-movie command we can create with the help of individual frame

21-different individual frames a new uncompressed avi file is created using video file command

22-we are opening the videofile using the open command

23-closing the videofile using close command

% Forward kinematics of a 2R robotic arm manipulator
clear all
close all
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);

        % plotting
        plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'LineWidth',2);
        axis([-0.1 1.5 0 1.5]);
        pause(0.03);
        M(ct)=getframe(gcf);
        ct=ct+1;
   end

end
% movie commands
movie(M)
Videofile = VideoWriter ('forward_kinematics.avi','Uncompressed AVI');
open(Videofile)
writeVideo(Videofile,M)
close(Videofile)

2R Robotics Arm:

The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called end to end effector and it is analogous to the human hamd. A 2R robotic arm represents a robotic arm with two rotations.The robotic arm used for protect the human body injury.