Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

% Inputs
L1 = 3;
L2 = 0.5;

theta1 = linspace(0,90,5);
theta2 = linspace(0,90,5);

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 ([-4 4 0 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(videofile)