Week 2- 2R Robotic Arm Challenge

%forward kinematics of a robotic arm
clear all
close all
clc

%inputs
l1=2;
l2=1.5;

theta1=linspace(0,90,10);
theta2=linspace(0,90,15);
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',2)
        axis([-0.1 5 0 5]);
        pause(0.1);
        M(ct)=getframe(gcf);
        ct=ct+1;
    end
end
movie(M)
videofile = VideoWriter('kinematics_of_robotic_arm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

1. 'i' is used for THETA1 and 'j' is used for THETA2.
2. M(ct) command is used for frames of the counts.
3. 'videowriter' command is used for creating a video or movie,,,'.avi'.
4. engine_kinemetics.avi