Forward kinematics of a 2R Robotic Arm

Objective: To write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

Code:

clear all
close all
clc

% Inputs
l1 = 1;
l2 = 0.6;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);

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],\'linewidth\',4,\'color\',\'b\');
        %plot([x1 x2],[y1 y2],\'linewidth\',4,\'color\',\'r\');
        
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3)
        axis([-0.1 1.7 0 1.7])
        pause(0.01)
        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)

Results:

Animation Link: https://youtu.be/6S60FT8NlVM