Program to simulate the forward kinematics of a 2R Robotic Arm

% Program to simulate the forward kinematics of a 2R Robotic Arm
clear all 
close all
clc
% Inputs
l1 = 0.5; %Length of the link-1 in meters
l2 = 0.3; %Length of the link-2 in meters

theta1 = linspace (0,90,30); %Angle of link-1
theta2 = linspace (0,90,30); %Angle of link-2
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],[x1 x2], [y1 y2],\'linewidth\',3);
axis ([0 0.9 0 0.9])
pause(0.1);
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)



The plot shows the position of links-1 & 2 at one particular instance when animating both the links for theta1 and theta2 angles respectively.

-----------------------------------------------------------------------------------------------------

How can I upload animation video file? Thete is no \"browse\" option to upload media.

Regarding the week-1 Flow over bicycle challenge:

I did not intend to upload the assignment the way it has been. I wrote the programme and it was incomplete and I just saved it for later. I really do not know how it got submitted. Later I tried to get back to it but I couldnt as no. of allowed attempts is only 1.

I am really very sorry for the same as it was some rubbish which got submitted for evaluation. I neither take the challenges lightly nor the course because I have invested my time, money, some resources and many other things. I want more return against my investments.

Thanks,

Kunal Bhatt