forward kinematics of a 2R Robotic Arm,

AIM: To simulate forward kinematics of a 2R Robotic Arm using MATLAB

MATLAB CODE:

%Forward kinematics of a robotic  with animation

close all
clear all
clc

%inputs
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;

for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        
        %co-ordinates
        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([-0.1 2 0 2])
        pause(0.03)
        A(ct) = getframe(gcf);
        ct=ct+1;
       
        
    end
end
    
movie(A)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile);
writeVideo(videofile,A)
close(videofile)

https://youtu.be/osCw9vKEfxY