Simulation of the forward kinematics of a 2R Robotic Arm

1. me have modified some of teh parameters.

program-

l1= 1;

l2= 0.5;

theta1 = linspace(0,360,4);

theta2 = linspace(0,360,4);

ct=1;

for me=1:length(theta1)

THETA1= theta1(me);

for j=1:length(theta2)

THETA2= theta2(j);

x0 = 0;

y0 = 0;

x1 = l1*cosd(THETA1);

y1 = l1*sind(THETA1);

x2 = x1+l2*cosd(THETA2);

y2 = y1+l2*sind(THETA2);

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2], \'linewidth\', 3);

grid on;

axis([-4 4 -5 10])

pause(0.3)

M(ct)= getframe(gcf);

ct=ct+1;

end

end

movie(M)

videofile= VideoWriter(\'kinematics_animation.avi\',\'uncompressed AVI\');

open(videofile)

writeVideo(videofile,M);

close(videofile)