Week 2- 2R Robotic Arm Challenge

YouTube Video Link

% Program for forward kinematics of 2R robotic arm 
close all 
clear all 
clc

% Inputs 
% Length in meters  
l1 = 2;
l2 = 1.5;

% Theta in degree 
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 3.5 0 3.5])
        pause(0.02)
        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)