Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

%input
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,40);
theta2 = linspace(0,90,40);

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);

%ploting
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',3)
axis([-0.1 1.5 0 1.5])
pause (0.09)
M(ct) = getframe(gcf);
ct = ct+1;
end
end

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

explanation ;-

• theta is used for angle
• cosd and sind is used as a degree for matlab
• linspace is used to creat multiple values of plot
• x and y are the plot vlaues
• linewidth is used for plot line size
• ct is used to repate for animation
• this general command is used in this program