Week 2- 2R Robotic Arm Challenge

close all
clear all 
clc 

% Program to design a 2R Robotic Arm to determine it's workspace

% Given Data:

x=0;                    % 'x' co-ordinate for initial position of arm 
y=0;                    % 'y' co-ordinate for initial position of arm 
L1=10;                  % Length 'L1' for robotic arm
L2=5;                   % Length 'L2' for manipulator arm
a1=linspace(0,90,10);   % Angle 'a1' for position of 1st arm
a2=linspace(0,90,10);   % Angle 'a2' for position of manipulator arm
ct=1;

% For every varying position of 'a1' there is 'a2' that varies until completion
% and thereafter only which 'a1' is incremented to the next value until it
% gets terminated. For this purpose, 2 'FOR' loops shall be implemented and
% the new values of 'a1','a2' will be 'A1' & 'A2'.

for i=1:length(a1)       
    A1=a1(i);
    for j=1:length(a2)
        A2=a2(j);
      
% Step 1 - Calculating the coordinates of x1,y1

        x1 = L1*cosd(A1)
        y1 = L1*sind(A1)              

% Step 2 - Calculating the coordinates of x2,y2

        x2 = x1 + L2*cosd(A2)
        y2 = y1 + L2*sind(A2)
             
% Step - 3 - Plotting the figure
        
        plot([x,x1], [y,y1], [x1,x2], [y1,y2],'linewidth', 3)
        axis([-1 20 -1 20])     
        xlabel('X-Axis')
        ylabel('Y-Axis')
        title('2R Robotic Arm')
        pause(0.05)
        
% Step - 4 - Now, collect individual frames of the plotted graph and
%            store it into a movie vector 'M' so that the
%            movie vector 'M' can be indexed later.

        M(ct)=getframe(gcf);
        ct=ct+1;
                
    end
end

% Step - 5 - Saving the movie file and updating the data onto the file
%            using the movie vector 'M'

robotvideo = VideoWriter('2R Robotic Arm');
open(robotvideo);
writeVideo(robotvideo,M);
close(robotvideo);

        

% SOLUTION FOR THE ERROR VIDEOS ATTACHED:

% Error Video-1 :

%    How the error was made? 
%          In 'Step-3- Plotting the Figure' using the commands below : 
%              plot([x,x1], [y,y1], 'linewidth', 3)
%              plot([x1,x2], [y1,y2], 'linewidth', 3) 

%    How was the error resolved?
%        Using 'hold on' function which attaches the plots together and the
%        resultant code would look like this - 
%              hold on
%              plot([x,x1], [y,y1], 'linewidth', 3)
%              plot([x1,x2], [y1,y2], 'linewidth', 3)

% Error Video-2 :

%   How the error was made? 
%        In 'Step-3- Plotting the Figure' using the commands below : 
%              hold on
%              plot([x,x1], [y,y1], 'linewidth', 3)
%              plot([x1,x2], [y1,y2], 'linewidth', 3)

%   How was the error resolved?
%      By removing the 'hold on' fumction and just using a simgle 'plot'
%      function to plot the values of  [x,y], [x1,y1] & [x2,y2]
%           plot([x,x1], [y,y1], [x1,x2], [y1,y2],'linewidth', 3)

%      This final error-2 was resolved and the resultant output is shown
%       in the video file named as '2R Robotic Arm'.