Week 2- 2R Robotic Arm Challenge

clear all
close 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= theta2(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
figure(ct)
line([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3,'color','b')
pause(0.04)
axis([-0.1 1.5 0 1.5]);
ct=ct+1;
M(ct)=getframe(gcf);
end
end

Movie(M)
videofile=videowriter('forward_kinematics.avi','uncompressed AVI')
open(videofile)
writevideo(videofile,m)
close(videofile)

1)first we define length of robotic arms (l1

2)Using linspace command we will assign set of values in array.

3)for command for iterating values

4) for command for movement of second arm.

5)define the co-ordinates of both arms

6)plotting all the co-ordinates and changes of contours usind required command.

7) figures are assigned by a variable M Using ct.

8)Movie command is used to create movie by combining all the figures and saveit in .avi format.