Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

%Inputs

l1 = 1;

l2 = 0.5;

l3 = 0.3;

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

theta3 = linspace(0,90,10);

ct=1;

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

for k = 1:length(theta3)

THETA3 = theta3(k);

x0 = 0;

y0 = 0;

x1 = l1*cosd(THETA1);

y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);

y2 = x2 + l2*sind(THETA2);

x3 = x2 + l3*cosd(THETA3);

y3 = y2 + l3*sind(THETA3);

%plotting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],[x2 x3],[y2 y3],'LineWidth',3)

axis([-0.1 1.5 0 2.5])

pause(0.0003)

M(ct) = getframe(gcf);

ct=ct+1;

end

end

end

movie(M)

videofile = Videowritter('forward_kinematics.avi','Uncompressed AVI');

open(videofile)

writeVideo(videofile,M)

close(videofile)