Week 2- 2R Robotic Arm Challenge

Aim=forward kinematics of a 2R robotic arm

step1-calculate position of link1

step2-calculate position of link 2

x2=x1+l2costheata2

y2=y1+l2sintheta2

program

close all
clear all
clc
%inputs 
l1=1;
l2=0.5;
theta1=linspace(0,90,30);
theta2=linspace(0,90,30);
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('roboticarm.avi','Uncompressed AVI');
open(videofile)
write(videofile.m)
close(videofile)