Week 2- 2R Robotic Arm Challenge

Question :-  Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm, as shown in the video ?

Answer :- 

% Forward kinamatics of a 2R Robotic Arm

clear all
close all
clc

% Inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace (0,90,8);
theta2 = linspace (0,90,8);

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([-0.1,1.5,0,1.5])
pause(0.03)
M(ct) = getframe(gcf);
ct =ct+1;
end
end
movie(M)
Videofile = VideoWriter('Forward_Kinamatics.avi','Uncompressed AVI');
open(Videofile)
writeVideo(Videofile,M)
close(Videofile)