Week 2- 2R Robotic Arm Challenge

C:\Program Files\Polyspace\R2021a\bin

%Analizing the forward kinemetics of 2R robotic arm

%inputs
%here we considering the intial inputs

clear all
close all
clc

%inputs
%considering the length of the arm
l1=1;
l2=0.5;
%considering the arm angle
theta1=45;
theta2=30;
%considering initial co ordinates
x0=0;
y0=0;

%coordinates
x1=l1*cosd(theta1);
y1=l1*sind(theta1);

%considering second arm end co ordinates

x2=x1+l2*cosd(theta2);
y2=y1+l2*sind(theta2);

%ploting the graph for the above values

line([x0 x1],[y0 y1],'linewidth',3,'color','g')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')

https://youtu.be/anIec442LMU

...........

% to work for the annimation veiw

%Analizing the forward kinemetics of 2R robotic arm
clear all
close all
clc
%inputs
%considering the intial inputs
l1=1;
l2=0.5;
%considering the arm angle

theta1 = linspace(0,90,4);
theta2 = linspace(0,90,4);

ct=1
for i=1:length(theta1)
THETA1=theta1(i);
for j=1:length(theta2)
THETA2=theta2(j);

x0=0;
y0=0;

%coordinates
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);

%considering second arm end co ordinates

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

%ploting the graph for the above values
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([-0.1 1.5, 0 1.5])
pause(0.3)
M(ct)=getframe(gcf);
ct=ct+1;

end

end

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

%Output