Week 3.2 - 2R Robotic Arm Challenge

Report on 2R Robotic Arm

Aim:

• To write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.
• To create an animation file of the plot.

Software used: MATLAB.

Code:

Explanation:

• l1 and l2 define the lengths of the two robotic arm segments.
• Theta 1 and Theta 2 are the joint angles.
• ct is frames.
• For Loop is used for different values of joint angles.
• x0,y0 are robot arm is at the origin.
• x1,y1 are the first position of the link.
• x2,y2 are the second position of the link.
• plot the graph of links using plot() command.
• axis() command used to limit the axeses.
• speed of the robotic arm is controlled using pause command.
• frame is captured using getframe(gcf) command.
• movie(M) command is used to play the movie.
• video file named Forward_Kinematics.avi is created.

Result:

You tube link for an animation - https://youtu.be/hV59rqGAAaE?si=YqZnc7jMFvPwnfRY .