Week 2- 2R Robotic Arm Challenge

% forward kinematics of a robotic arm
% using for loop
% parameters

% length of two robotic arm
l1 = 1.5;
l2 = 0.8;

% angle 
theta1 = linspace(0,90,12);
theta2 = linspace(0,90,12);

ct = 1;
for t = 1:length(theta1);
    THETA1 = theta1(t);
  for u = 1:length(theta2);
    THETA2 = theta2(u);
    
    x0 = 0;
    y0 = 0;
    
    x1 = l1*cosd(THETA1);
    y1 = l1*sind(THETA1);
    
    x2 = x1+l2*cosd(THETA2);
    y2 = y1+l2*sind(THETA2);
    
   % to draw plot
   plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',2)
   axis([-0.1 2.5 0 3]);
   grid on
   pause(0.03)
   
   
   M(ct) = getframe(gcf);
   ct = ct+1;
   
  end
end
    
movie(M)
VideoFile = VideoWriter('forward_kinematics.avi','Uncompressed AVI')
open(VideoFile)
writeVideo(VideoFile,M)
close(VideoFile)
    

Google photos(videos) link to see result :-

https://photos.app.goo.gl/feLwHxgQ81UzyLW27

Step Wise Explanation (Command) :-

1). %(comment)- Starting with comment.

2). linspace - to get numbers between to integers with same interval between them.

3). for loop - in this programme we used two for loops to get two different values of two different angles of a robotic arm.

4). plot - it use to get plot or graph.

5). ct(couter) -it reprsents each and every frame or it add frames that use to create a movie or video.

6). movie - to create a movie with the frame that generated after the complition of the programme.

Errors and Steps to correct the programming :-

1). Invalid axis coordinates results in error while running the code.

- Giving specific/required values to draw the plot from its origin

2). Silly spelling mistakes results in error.

- Rechecking the spelling.

3). Forget to write a command in a order.

- Changing positions of the command.

4). Got stuck in for loop command.

- Watching lecture again to correct it.