Week 2- 2R Robotic Arm Challenge

% To simulate forward kinematics of 2R Robotic Arm

clear all 
close all
clc


% inputs
l1 = 2;
l2 = 1;

theta1 = linspace(1,180,20);
theta2 = linspace(1,180,20);


ct = 1;
for i=1:length(theta1)
     THETA1 =theta1(i);
   for j=1:length(theta2)
     THETA2 =theta2(j);

     % coordinates
 
     x0 = 0;
     y0 = 0;

     x1 = l1*cosd(THETA1);
     y1 = l1*sind(THETA1);

     x2 = x1 +(l2*cosd(THETA2));
     y2 = y1 +(l2*sind(THETA2));

     % plotting
     figure(1)
     plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5);
     axis([-3 3 -3 3])
    
     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)