Simulation of 2R Robotic Arm in MATLAB

close all
clear all
clc

% Inputs %

l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

%Origin
x0 = 0;
y0 = 0;


ct = 1;
for i = 1:length(theta1)
    
    THETA1 = theta1(i);
    
    for j = 1:length(theta1)
        
        THETA2 = theta2(j);
        
        %Connector of Link1 and Link2
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);
        
        %Coordinates of Manipulator
        x2 = x1+l2*cosd(THETA2);
        y2 = y1+l2*sind(THETA2);
        
        % Plotting %
        
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5)
        axis ([-0.1 1.5 0 1.5])
        axis('off')
        title('Simulation  of  2R  Robotic  Arm','Fontweight','bold','Fontsize',14)
        pause(0.04)
        M(ct) = getframe(gcf);
        
        ct = ct+1;
    end
    
end

    movie(M)
    videofile = VideoWriter('forward_robo_kinematic.avi','uncompressed avi');
    open(videofile)
    writeVideo(videofile,M)
    close(videofile)
    

MOVIE created: click here