Week 3.2 - 2R Robotic Arm Challenge

https://drive.google.com/file/d/15BVPn2luUErA23aD0Bi0onBWI4WRQxj2/view?usp=sharing

Robotic Arm Link

REORT :

Expaination of code:

Let give l1 & l2 as length of link 1 & 2 respectivily,
here i gave l1 = 1 & l2 = 0.5 (random values)

theeta1 = the angle between starting point & link1
theeta2 = the angle between link1 & link2

theeta1 = linspace(0,90,10)
theeta2 = linspace(0,90,10)

here linspace is for mentioning the the with 10 intervals

ct = 1 for representing each & every frame

for loop is used for the repeatition of each values in the array matrix
i = 1:length(theeta1) - for loop is in between i and j because link 2 has its own 
     additional values for the array matrix
j = 1:length(theeta2) where i & j is the range operator storage & length of theeta 1 & 
    2 means the range with the intervals
   - Theeta 1 & 2 means it has only one value and its a variable not an array which 
     inturn helps in finding the reccuring values 

x0=0
y0=0 - because x0 & y0 are starting points of arm
x1 , y1 = the end of link 1 & starting point of link 2 resp.
x2 , y2 = the end point of link 2

x1=l1*cosd(Theeta1)
y1=l1*sind(Theeta1) - equation for finding the position of link1

x2=x1+l2*cosd(Theeta1)
y2=y1+l2*sind(Theeta2) - equation for finding the the position of link 2

Potting -
figure(1) for making sure that the all the movement of the links can be plotted on a single fig.

plot is used for making the plotting of all the axis values including x0,y0,x1,y1,y2,x2

linewidth helps to add the desired width for the line

axis[0 2 0 2] helps to change the xlimits & ylimits
 
pause helps to visualize the value of theeta2 when theeta1 changes

M(ct) = getframe(gcf)-helps caputre the movie of counter ie movie of each frame by frame.

ct = ct+1 means each time the for loop executed it may increment the frame

end is used to end the for loop i and j resp.

movie(M)-helps to play the movie frames in array
videofile=VideoWriter('robotic arm.avi','uncompressed Avi') - command helps to create a 
          video file of specified name & format(AVI)
open(videofile) - opens the  video file
writeVideo(videofile,M) - writes the video frames caputered in M array
close(videofile) - closes the video file

ERRORS & SOLUTIONS

Error 1 - Absence of paranthesis () while calling a function (ie - plot) 
        - absence of * while multiplying l1*cos & l1*sin

Error 2 - Not using deg for the calucation of x1,x2,y1,y2 beause cos & sin are in degree 
          not in radian.

Error 3 - Absence of for loop for the execution next array value.

Error 4 - Entering incorrect equation ie using l2 & l1 instead of l1 & l2 in their 
          respective y1 & y2 eqn.

Error 5 & 6 - use i instead of j in Theeta2 eqn & also l1 instead of l2 in x2 and y2 
              equation respectivily.
            - counter variable is not given for the execution of getframe.

SOLUTIONS:

Error 1 - put paranthesis & * according to the need in the code 
Error 2 - put deg in the eqn infront of cos and sin resp.
Error 3 - introduce for loop for the repetition of the array matrix values
Error 4 - correctly put the proper values for the correspinding eqns
Error 5 - correctly replace the i with j
Error 6 - ctr variable may give from ctr = 1 to ctr =ctr + 1 for the execution of 
          getframe

% program for Robotic arm kinematic simulation

clear all
close all
clc

%inputs
l1 = 1;
l2 = 0.5;

theeta1 = linspace(0,90,10)
theeta2 = linspace(0,90,10);

ct=1;
for i = 1:length(theeta1)
    Theeta1 = theeta1(i);
    for j = 1:length(theeta2)
        Theeta2 = theeta2(j);
x0 = 0;
y0 = 0;

x1 = l1*cosd(Theeta1);
y1 = l1*sind(Theeta1);

x2 = x1 + l2*cosd(Theeta2);
y2 = y1 + l2*sind(Theeta2);

%plotting
figure(1)
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'lineWidth',3);
axis([0 2 0 2])
pause(0.1)
M(ct) = getframe(gcf);
ct=ct+1;

    end

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

Command Window Results

theeta1 =

     0    10    20    30    40    50    60    70    80    90


videofile = 

  VideoWriter

    General Properties:

       Filename:                 'robotic arm.avi'
       Path:                     'C:\Users\Basel Thomas\Documents\MATLAB'
       FileFormat:               'avi'
       Duration:                 0

    Video Properties:

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

  Methods

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