Week 2- 2R Robotic Arm Challenge

% Forward Kinematics Of 2R Robotic Arm
clear all
close all
clc

% Inputs
l1 = 1.2;
l2 = 0.7;

theta1 = linspace(0,90,20);
theta2 = linspace(0,60,10);

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 2 0 2])
        pause(0.1)
        M(ct) = getframe(gcf);
        ct = ct+1;
    end
end

movie(M)
videofile = VideoWriter('forward_kinematics_roboptic_arm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

REPORT

In program to simulate the forward kinematics of a 2R Robotic arm,following commands are used,

linspace is used to take specific intervals we wnt in between two values.

Program is exicuted using for loop.

While programmingI faced problem in creating videofile .For that I check itbin video provided by skill lync & search on google.

Youtube link of animation is as follows'

https://youtu.be/x-itui8LnvI