Week 2- 2R Robotic Arm Challenge

% Forward kinematics of a 2r Arm

clear all
close all
clc

%inputs
l1 = 1;
l2 = 0.6;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
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([-0.2 3 0 3])
pause(0.005)
M(ct) = getframe(gcf);
ct = ct+1;
end
end
movie(M)
videofile = VideoWriter("forward_kinenatics.avi");
open(videofile)
writeVideo(videofile,M)
close(videofile)

AIM : To determine the 2Rrobotic arm

Explanation: In this program we given the values of l1,l2 ; theta 1,theta2; and [THETA1 ;THETA2 ] are variables . we use forloop for reapeating co ordinates of x0,y0;x1,y1 and x2,y2 and then plotting with co ordinates with line width with some axis the graph will appears and end the forloop for movie animation from this code ct = (ct+1) it repreasents individual frames then we apply video file using the command videofile and file name and command open videofile writevedio((videofile,M) and close video file and exicute the 'M'movie file .

https://drive.google.com/file/d/1SljUJCTXh7nD7yCBh5zyjizatuEJnqoC/view?usp=sharing