Week 2- 2R Robotic Arm Challenge

• forward kinematics of 2R robotics Arm

close all
clear all
clc

% Inputs 
l1 = 1;
l2 = 0.5;
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);
        x0=0;
        y0=0;

        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)
        axis([-0.1 1.5 0 1.5])
        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)