2R Robotic Arm

% program to make an animated simulation of the 2R robotic arm

clear all

close all

clc

%inputs

l1 = 0.8; % in meters

l2 = 0.3;

theta1 = linspace(0,90,10); % in degrees

theta2 = linspace(0,90,10);

ct = 1;

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

% Coordinates

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\\\',3)

axis([-0.1,1.5,0,1.5])

pause(0.01)

M(ct) = getframe();

ct = ct + 1;

end

end

movie(M)

videofile = VideoWriter(\\\'forward_kinematics.avi\\\',\\\'Uncompressed AVI\\\');

open(videofile)

writeVideo(videofile,M)

close(videofile)