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  1. Home/
  2. Syed Saquib/
  3. Week 2- 2R Robotic Arm Challenge

Week 2- 2R Robotic Arm Challenge

                                                         2R robotic arm Aim- To write a programin matlab to simulate the forward kinematics of a 2R Robotic arm. Code- 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…

    • Syed Saquib

      updated on 19 Apr 2022

                                                             2R robotic arm

    Aim- To write a programin matlab to simulate the forward kinematics of a 2R Robotic arm.

    Code-

    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
    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('forwrad_kinematic.avi','Uncompressed AVI')
    open(videofile)
    writeVideo(videofile,M)
    close(videofile)
     
    Animation-
    https://youtu.be/zOQ_AyUj2fI
     
    Explaination of codes-
    clear all - This command is used to clear all the data stored in the workspace
    close all- This command is used to close all the fig and plots
    clc- This command is used to clear the command window
     
    Important note- To move the robotic arm continously we are using for loop
      
    for i= 1:length(theta1)
    THETA1= theta1(i);
    for j=1:length(theta2)
    THETA2= theta2(j);
     
    Error-
     
    Chnages- Replaced Movie to movie
     
     
     
     

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