WR Home Topic Home | Chapter: 1 2 |

<Previous | Next> |

## Chapter 02

### Basics of Animation and Forward Kinematics

#### Page 1

##### (Part-II: MATLAB® Programming Tutorials: Robot Control and Mathematics)

**This chapter covers the following topics:**

- Drawing the two links
- Animating in a Figure Window : A Growing Plant
- Developing a Function for Rotation Transformation: Forward Kinematics
- Animation of Rotating Arm

The following variables are used:

L1 and L2 are the link lengths and should be treated as constants. They will be changed only if the mechanical structure of the robot is changed.

**L1**= 110.0; % Link Length in mm

**L2**= 140.0; % Link Length in mm

Consider a two link mechanism it will have three points:

**lx(1), ly(1)**This point will always conside with the Origin (0,0).

The motor

**M1**can rotate this point along the z-axis.

**lx(2), ly(2)**This is the junction point of Link-1 and Link-2

The motor

**M2**can rotate this point along the z-axis.

**lx(3), ly(3)**This is the tip of the robot's gripper.

Destination point

**(dx,dy)**is the point, where the robot needs to reach in order to acomplish a certain task. When the robotic arm is moved accordingly the the tip of the gripper

**[lx(3), ly(3)]**will conside with

**(dx, dy)**.

The distance between the Point

**[**lx(1)

**,**ly(1)

**]**and the Point

**[**lx(2)

**,**ly(2)

**]**will always be L1

The distance between the Point

**[**lx(2)

**,**ly(2)

**]**and the Point

**[**lx(3)

**,**ly(3)

**]**will always be L2

The distance between the Point

**[**lx(1)

**,**ly(1)

**]**and the Point

**[**lx(3)

**,**ly(3)

**]**will always be < = SUM_L1_L2

**SUM_L1_L2**is the sum of L1 and L2

WR Home Topic Home | Chapter: 1 2 |

<Previous | Next> |