Week 2- 2R Robotic Arm Challenge

Title: Forward Kinematics of 2R Robotic arm simulator

Answer:

Program Code:

% Forward Kinematics of 2R robotic arm simulator
clear all
close 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);

        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 1.5 0 1.5])
        pause(0.03)
        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)

For Video the google drive link is as mentioned below:

https://drive.google.com/file/d/1hjiarGnVRZhiMFNdpSg9CIsUUdnmE0pp/view?usp=sharing

Error:

The typo error (uncompressed) came, while writing the program. so the video couldn't write and error was come.

By updating the spelling mistake is error is solved.