Week 2- 2R Robotic Arm Challenge

forwar kinematics

%program 1
%kinematics of robotic arm
clear all 
close all 
clc
%input terms
l1=1;
l2=0.5;
theta1=45;
theta2=30;
%co-ordinates
x0=0;
y0=0;
x1=l1*cosd(theta1);
y1=l1*sind(theta1);
x2=x1 + l2*cosd(theta2);
y2=y1 + l2*sind(theta2);
%ploting
line([x0 x1],[y0 y1],'linewidth',3,'color','r');
line([x1 x2],[y1 y2],'linewidth',3,'color','b');

%program 2
clear all
close all
clc
l1=1;
l2=0.5;
ct=1;
theta1=linspace(0,90,20);
theta2=linspace(0,90,20);
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);
     %ploting
    
     plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
     axis([-0.1 1.5 0 1.5]);
     pause(0.01);
     
     M(ct)=getframe(gcf); 
     ct=ct+1;
     
    end
end

movie(M)
videofile=VideoWriter('forward kinematic.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)