Forward Kinematics of 2R Robotic Arm

This program is for the simulation of a 2R robotic arm using MATLAB

The robotic arm is made up of two links of length 2m and 1m respectively and they rotate from 0 to 90 degree with respect to the x axis where link 1 remains at a constant angle while the full rotation of link 2 from 0 to 90 degree is complete.

The pivot point of link 1 is considered as origin and the end of link 1 and link 2 are the same points.

The simulation of the robotic arc is done using MATLAB as follows:

%forward kinematics of 2R robotic arm
clear all
close all
clc
%inputs
l1=2;
l2=1;
x0=0;
y0=0;
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);
        x1=l1*cosd(THETA1);
        y1=l1*sind(THETA1);
        x2=x1+l2*cosd(THETA2);
        y2=y1+l2*sind(THETA2);
        plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3)
        axis([0 4 0 4])
        pause(0.03)
        M(ct)=getframe(gcf);
        ct=ct+1;
    end
end
movie(M);
videofile=VideoWriter('forward_kinematics_project.avi','Uncompressed AVI');
open(videofile);
writeVideo(videofile,M);
close(videofile);