2dof py scripts added

python/2dof_scripts/circle_fxn.py

@@ -0,0 +1,17 @@
+import math
+
+radius = 10   #radius of the circle
+
+parameters = []
+
+
+for t in range(0,361):
+    theta=math.radians(t)
+    time = t/100   #in seconds
+    x =round(radius*math.cos(theta),4)
+    y= round(radius*math.sin(theta),4) 
+    parameters.append((x,y,t,time))   
+
+
+print(parameters)
+

python/2dof_scripts/ikine_fb0.py

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+import math
+
+l1=20
+l2=40
+
+#assigningt he co-ordinates of the end effector
+x,y = 0,25
+
+d = math.sqrt(x**2 + y**2)
+
+t = math.atan(x/y)  #slope
+
+#using cosine rule
+t_eff = math.acos((l1**2 + d**2 - l2**2)/(2*l1*d))
+
+t1,t2 = abs(t-t_eff),abs(t+t_eff) #compensating shift from reference
+
+print(math.degrees(t1),math.degrees(t2))

python/2dof_scripts/tracing_circle.py

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+import math
+
+r = 10   #radius of the circle
+offset = 48
+
+
+
+for t in range(0,361):
+    theta=math.radians(t)
+    time = t/10   #in seconds
+    xe =round(r*math.cos(theta),4)
+    ye= round(r*math.sin(theta),4) + offset
+    #parameters.append((x,y,t,time))  
+    l1 = 20
+    l2 = 40
+    f = 10
+
+    d1 = math.sqrt((xe + f )**2 + (ye)**2)   
+    d2 = math.sqrt((xe - f )**2 + (ye)**2) 
+    d = math.sqrt((xe)**2 + (ye)**2)         
+
+    tx = math.acos(((l1*l1) - (l2*l2) + (d1**2))/(2*l1*d1))
+    temp = ((l1**2) - (l2**2) + (d2**2))/(2*l1*d1)
+    print(temp)
+    ty = math.acos(temp)
+
+    te1 = math.acos(((d1**2) + (f**2) - (d**2))/ (2*f*d1))
+    te2 = math.acos(((d2**2) + (f**2) - (d**2))/ (2*f*d2))
+
+    tl = math.radians(90) - (te1 + tx)
+    tr = te2 + ty - math.radians(90)
+
+
+    print(math.degrees(tl),math.degrees(tr)) 
+
+
+#print(parameters)
+