Forward kinematics of a 2R Robotic Arm

Comments from grader

• You haven\'t attached the results

%robotic_file2
clear all
close all
clc
% INPUTS
l1=.5;
l2=.5;
thita1= linspace(0,90,10);
thita2= linspace(0,90,10);
ct=1;
for i=1:length(thita1);
THITA1=thita1(i);
for j=1:length(thita2);
THITA2=thita2(j);
x0=0;
y0=0;
%COORDINATES
x1= l1*cosd(THITA1);
y1= l1*sind(THITA1);
x2= x1 + l2*cosd(THITA2);
y2= y1 + l2*sind(THITA2);
%PLOTTING
plot([x0 x1],[y0 y1],\'linewidth\',6,\'color\',\'g\',[x1 x2],[y1 y2],\'linewidth\',5,\'color\',\'r\');
axis([-.1 1.5 0 1.5])
pause(0.001)
M(ct)= getframe(gcf);
ct=ct+1
end
end
movie(M)
vediofile=vediowriter(\'forward kinematics.avi\',\'uncompressed AVI\');
open (vediofile)
writevedio(vediofile,M)
close(videofile)