Week 2- 2R Robotic Arm Challenge

https://youtu.be/ATyBR95lI7A

% Program of forward kinematics of 2R robotic arm

clear all
close all
clc

% Inputs

%Length of First Arm
l1=1;
%Length of First Arm
l2=0.5;
% Angle of First Arm with the horizontal Reference
theta1 =linspace(0,90,15);
%Angle of Second Arm with the horizontal Reference
theta2 =linspace(0,90,15);

ct=1;

for i = 1:length(theta1)
    THETA1=theta1(i);
    for k=1:length(theta2)
        THETA2=theta2(k);
    x0 = 0
    y0 = 0

    x1 = l1*cosd( THETA1)
    y1 = l1*sind( THETA1)

    x2 = x1+l2*cosd(THETA2)
    y2 = y1+l2*sind(THETA2)

    % Plotting the graph
    plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',2)
    axis([-0.1 1.5 0 1.5])
    xlabel('X-Axis','color','b')
    ylabel('Y-Axis','color','r')
    title('Forward Kinematics of 2R Robotic Arm','color','r')
    pause(0.3)
    M(ct) = getframe(gcf);
    ct = ct+1;
    grid on;
    end
end

movie(M)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)



Results:-
1) I have created a video file for this program for differents angles.

Difficulties during writing a program as follows
1) In below syntax I faced a problems.I Solved the problems by taking help of mathworks and seeing a video again and again.

videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI')


# I have uploaded this videofile on the YOUTUBE.Here I have provided the link for the same.

https://youtu.be/ATyBR95lI7A

# Also I have uploaded this videofile on my google drive.
Please see the link

https://drive.google.com/file/d/1WRhJrCQO1_euv8ovAc_6HjsQWwZZkR6h/view?usp=sharing