To determine the allowed workspace for the 2DOF arms and check if the end effector's final position exceeds the specified limits, you can modify the code as follows:
% Define the workspace limits
xMin = -0.5;
xMax = 0.5;
yMin = 0.5;
yMax = 1.8;
% Get the user input for the desired position
x = input('Type x coordinate: ');
y = input('Type y coordinate: ');
% Check if the desired position is within the workspace limits
if x < xMin || x > xMax || y < yMin || y > yMax
fprintf('Position coordinates exceed robot working area. Insert new coordinates.\n');
pause(3);
New_2R; % Call the same program
else
% Continue with the program
% ... (rest of the code)
% Desired position for R1
p11 = transl(-1.5, 0.2, 0); % define the start pose
p12 = transl(-x, y, 0); % define the end pose
% calculate the trajectory from p11 to p12
T1 = ctraj(p11, p12, 30);
% calculate inverse kinematics for R1
T1_Ikine = R1.ikine(T1, 'mask', [1 1 0 0 0 0]);
R1.plot(T1_Ikine)
% Desired position for R2
p21 = transl(1.5, 0.2, 0); % define the start pose
p22 = transl(x, y, 0); % define the end pose
% calculate the trajectory from p21 to p22
T2 = ctraj(p21, p22, 30);
% calculate inverse kinematics for R2
T2_Ikine = R2.ikine(T2, 'mask', [1 1 0 0 0 0]);
R2.plot(T2_Ikine)
end
This code first checks if the desired position (x and y) is within the specified workspace limits. If the position is outside the limits, it prints a message and calls the same program again (New_2R). Otherwise, it continues with the rest of the program as before.
To extract the joint angles from the Ikine block, you can use the .q property of the resulting transformation matrix. For example, to extract the joint angles for R1, you can use T1_Ikine.q. Similarly, for R2, you can use T2_Ikine.q.
