Week 3.2 - 2R Robotic Arm Challenge
AIM:
Simulating Forward Kinematics of a 2R Robotic Arm.
CODE:
% A program to simulate the forward kinematics of a 2R Robotic Arm
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 = l2*cosd(THETA2);
y2 = l2*sind(THETA2);
% plotting
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 from collected frames
movie(M);
videofile = videoWriter('forward_kinematics.avi','uncompressed ANI');
open(vediofile);
write video(videofile,M);
close(videofile);