Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1HSBzBGH6fDkDWM_Qz0CpLsXgjK39I5Ag/view?usp=sharing

%forward kinematics of a 2D robotic arm

clear all
close all 
clc

%inputs

%length of first link in meters
l1 = 2;

%length of second link in meters
l2 = 1;

%angle between the base and first link is theta1
%angle between the first link and second link is theta2

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 = l2*sind(THETA1);

%since the angles are in degrees we use cosd(x) form

x2 = x1+l2*cosd(THETA2);
y2 = y1+l2*sind(THETA2);

%plotting

%line([x0 x1],[y0 y1],'linewidth',3,'color','b')
%line([x1 x2],[y1 y2],'linewidth',3,'color','r')
%figure(ct)
%hold on
%line([x0 x1],[y0 y1],'linewidth',3,'color','b')
%line([x1 x2],[y1 y2],'linewidth',3,'color','r')
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([0 3 0 3])
pause(0.03)
M(ct) = getframe(gcf);
ct=ct+1;

   end
end

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