Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1uX4UY3Te3ddlbsSClID_7oRhreiw6RtX/view?usp=sharing

% Forward kinematics of a 2R robotics arm

% inputs

l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

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=l2*sind(THETA1);

        x2=x1+l1*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(0.03)
        
        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);

Length of 1st link, l1 = 1m

Length of 2nd link, l2 = 0.5m

Taken value of theta1 0 to 90 degree with 40 values by using linspace command

Taken value of theta2 0 to 90 degree with 40 values by using linspace command

In each degree rotation of theta1, theta2 will rotate 40 times between 0 to 90 degree

so, i used for loop to define theta 1 & theta 2.

define coordinate xo yo, x1 y1 & x2 y2

for plotting use plot command

define axis

pause command for to run ther animation

define figure window which saved in a array called 'M'

For making movie used movie

define avi file

run the program

Error faced during program

Wrongly written Movie instead of 'movie'

so, i was unable to save the movie