Week 2- 2R Robotic Arm Challenge

% Forward kinematics of 2R Robotic Arm Manipulator

% inputs

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

ct=1

for i = 1:length(theta1)

THETA1 = theta1(i);

for j=1:length(theta2)

THETA2 = theta2(j);

x0 = 0;

yo = 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 ('forward_kinematics.avi' , 'uncompressed AVI');

open(videofile)

writevideo(videofile,M)

close(videofile)