Week 2- 2R Robotic Arm Challenge

% forward kinamatics of 2R robotic arm
clear all
close all
clc

% inputs
l1 = 1.2;
l2 = 0.7;

theta1 = linspace(0,60,20);
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',2)
        axis([-0.1 2 0 2])
        pause(0.2)
        M(ct) = getframe(gcf);
        ct = ct+1;
    end
end


movie(M)
videofile = VideoWriter('forward_kinamatics_of_2r_robotic_arm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)
   


REPORT
in program to simulate the forward kinamatics of a 2R robotic arm. following commands are used
linesoace is used to take specific intervals we want in between tow values.
program is exicuted using forloop.
while programming i faced problem in creating videofile. for that i check itbin video provided by skill lync and search on google.


youtube link of animation is as follows
https://youtu.be/Tn3LOv4jZiY