2-R robotic arm

clear all
close all
clc

clear all
close all
clc


%inputs
theta1 = linspace(0,90,40);
theta2 = linspace(0,90,40);

l1 = 1;
l2 = 1;

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

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],\'linewidth\',2)
axis([-0.1 2.5 0 2.5])

pause(0.1)
M(ct) = getframe(gcf);
ct = ct+1
       
    end
end
movie(M)
videofile = VideoWriter(\'forward_kinematics.avi\',\'uncompressed AVI\');
open(videofile)
writeVideo(videofile,M)
close(videofile)

%inputs
theta1 = linspace(0,90,40);
theta2 = linspace(0,90,40);

l1 = 1;
l2 = 1;

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

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],\'linewidth\',2)
axis([-0.1 2.5 0 2.5])

pause(0.1)
M(ct) = getframe(gcf);
ct = ct+1

end
end
movie(M)
videofile = VideoWriter(\'forward_kinematics.avi\',\'uncompressed AVI\');
open(videofile)
writeVideo(videofile,M)
close(videofile)