2R Robotic Arm Challenge

1) https://youtu.be/k12SMUyo1Rs

2) Matlab Code:

clear all
close all
clc

%inputs
l1 = 1;
l2 = 0.5;
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(0.001)
    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)