Week 2- 2R Robotic Arm Challenge

% forward kinematics of robotic arm
%input
l1=1;
l2=.5;
theta1=linspace(0,90,20);
theta2=linspace(0,90,20);
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(0.1)
        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)

OUTPUT:

https://drive.google.com/file/d/1UOgsUXrJaqwktxqfvGLy8vnvpdEEXIst/view?usp=sharing

As we are programming for 2 links robotic arm movement, we need the following inputs:

1. Length of link1.(l1)
2. Length of link2.(l2)
3. The angle between the link1 and the base. (theta1)
4. The Angle between link1 link2.(theta2)

Then we apply the 'for' loop to get the position of links at different angles. we calculated the base point, endpoint of link1, and endpoint of link2.

x0,y0 - base point (starting point of link1)

x1,y1 - the endpoint of link1.

x2,y2 - the endpoint of link2.

plotted the points on the graph and created an animation by capturing each frame and stitching them into a movie.

Then the movie is stored in a file.

ERRORS:

I accidentally typed open('videofile'), it showed me an error while running the program.

I made many typos that resulted in errors.

CORRECTIONS:

I removed inverted commas, as Matlab read it as a string but it is the variable.

I checked each and every line before executing the program to avoid typos.