Week 2- 2R Robotic Arm Challenge

https://youtu.be/u21Z6iL-Q24

% forward kinematics of 2R robotic arm with animation
clear all
close all 
clc
% Inputs
l1 = 1; % length of 1st arm
l2 = 0.5; % length of 2nd arm
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);
         %coordinates
        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
% making video of robotic arm
movie(M)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile, M)
close(videofile)