Week 2- 2R Robotic Arm Challenge

INSERT SAMPLE CODE

% A Program to simulate the 2R robotic arm

clear all

close all

clc

% Inputs

l1 = 1;

l2 = 0.5;

theta1 = linspace(0,90,4);

theta2 = linspace(0,90,4);

ct = 1;

for i = 1:length(theta1)

THETA1 = theta(i);

for j = 1:length(theta2)

THETA2 = theta(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(ct)

line([x0 y0],[x1 y1],'linewidth',3,'color','b')

line([x1 y1],[x2 y2],'linewidth',3,'color','r')

ct = ct+1

end

end

now converting line command to plot command and executing

we will get 16 plots with different positions

plot([x0 y0],[x1 y1],'linewidth',3,'color','b')

plot([x1 y1],[x2 y2],'linewidth',3,'color','r')

now we have to use hold on command to not overwritten

now adding hold on command before plotting

hold on

plot([x0 y0],[x1 y1],'linewidth',3,'color','b')

plot([x1 y1],[x2 y2],'linewidth',3,'color','r')

now removing hold on command and using pause command

%plotting

plot([x1 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

axis([-0.1 1.5 0 1.5])

M(ct) = getframe(gcf);

ct = ct+1

pause(0.1)

end

end

movie(M)

videofile = videowriter('forward_kinematics.avi','uncompressed AVI');

open(videofile)

writevideo(videofile,M)

close(videofile)