Week 3.2 - 2R Robotic Arm Challenge

l1=1;

l2=0.5;

t1=linspace(0,90,10);

t2=linspace(0,90,10);

ct=1

Linspace function returns a array consisting of 10 elements with values between 0 and 90 interms of angles in degrees.

2)The angles for link1 is varied through "for loop" form 0 to 90

3)The angles for Link2 is varied through "for loop" from 0 to 90

4)with help of plot function-graphs are drawn for the steps 2,3.

5)The speed of simulation is controlled with variable - no of angle values and pause() function as per user inputs

6)Finally all the simulations are captured in a avi -movie file

7)The avi file is played back with suitable mediaplayer.

program code:

clear all
close all
clc

%inputs
l1=1;
l2=0.5;
t1=linspace(0,90,10);
t2=linspace(0,90,10);
ct=1;
for i=1:length(t1)
    T1=t1(i);
    for j=1:length(t1)
        T2=t2(j);
    x0=0;
    y0=0;
    x1=l1*cosd(T1);
    y1=l1*sind(T1);
    x2=x1+l2*cosd(T2);
    y2=y1+l2*sind(T2);
    %plotting
    plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3)
    axis([-0.1 1.5 0 1.5])
    pause(0.1)
    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)

The AVI animation file is attached in compressed Zip file format.