2R Robotic Arm

% 2R robotic arm 

clear all
clock all 
clc

% inputs
l1=1;
l2=0.2;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

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',3)
        axis([-0.1 1.5 0 1.5])
        pause(0.03)
        M(ct) = getframe(gcf);
        ct=ct+1;
        
        
    end
end    

movie(M)
videofile = videowriter('robotic_arm.avi','uncompressed AVI');
open(videofile)
writevideo(videofile,M)
close(videofile)

% end of the program