Forward Kinematics of a 2R Robotic Arm

This program is used to describe the workspace of a 2R Robotic Arm and the relevant animation is included with the code.

%Forward Kinematics of a 2R Robotic Arm

%Inputs
l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);
ct=1;
%For loop statements to obtain multiple location of arm2 corresponding to
%the position of arm 1
for  i=1:length(theta1)
    THETA1=theta1(i);
    for   j=1:length(theta2)
        THETA2=theta2(j);
        
        %Co-ordinates of the arms
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([-0.05 2 0 1.5]) 
pause(0.03)
M(ct)= getframe(gcf);
ct=ct+1;
    end
end

%Video-making Commands

movie(M)
videofile = VideoWriter(\'forward_kinematics.mpeg4\',\'MPEG-4\');
open(videofile)
writeVideo(videofile,M)
close(videofile)

PLOTS(Video):

https://www.youtube.com/watch?v=BGr1VlfqFsU