Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1_2D1rA2yUWhRYkm0FLNtl8HqGwsAr6U2/view?usp=sharing

clear all
close all
clc
%Input
L1=1;%length of primary arm
L2=0.5%length of sendory arm
%used to 10 value of theta from 0 degree to 90 degree
theta1=linspace(0,90,10);%for primary arm angle
theta2=linspace(0,90,10);%for sendory arm angle
ct=1;%counter actully represent each and every fram
for i=1:length(theta1)
    THETA1=theta1(i);

    for j=1:length(theta2)
        THETA2=theta2(j);

        %inyial x and y cordinates
        x0=0;
        y0=0;

        %finel x and y cordinates
        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)
        %used to determine the axis point upto which it is visible
        axis([0 2 0 2])
        legend('primary arm','secondry arm')
        title('forward kinematics of 2R Roboticsarm')
        %pause is used to control the speed of animation
        pause(0.03)
        M(ct)=getframe(gcf);
        ct=ct+1;
    end
end
%to make it into a video
movie(M)
%videofile=videoWriter('forward_kinematic.avi','uncompressed AVI');
videofile=VideoWriter('forward_kinematics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)