Week 2- 2R Robotic Arm Challenge

% Kinematics for 3R Robotic Arms

% consider a simple robotic arm with three links making an angle of theta1, theta2 and theta3 and has lenght of L1, L2 , L3 

% So inputs for the program are 

L1 = 1.25;  % length of first link
L2 = 0.9;   % lenght of second link
L3 = 1.5;   % lenght of third link

theta1 = linspace(15,45,4);
theta2 = linspace(20,60,4);
theta3 = linspace(0,90,4);

ct = 1;
for i = 1:length(theta1)
Theta1 = theta1(i)

for j = 1: length(theta2)
Theta2 = theta2(j)

for k = 1:length(theta3);
    Theta3 = theta3(k)
    
    x0 = 0;
    y0 = 0;

x1 = L1*cosd(Theta1);
y1 = L1*sind(Theta1);

x2 = x1 + L2*cosd(Theta2);
y2 = y1 + L2*sind(Theta2);

x3 = x2 + L3*cosd(Theta3);
y3 = y2 + L3*sind(Theta3);

    
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],[x2 x3],[y2 y3])
pause(0.3)
M(ct) = getframe(gcf);
ct = ct+1;
end
end
end

movie(M);
videofile = VideoWriter('forward_Kinematic','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

link for the animation video file for kinematic of robotic arm

https://drive.google.com/file/d/13SAEIxi7z6OHXjAwafX2lwRN3DdkA7JK/view?usp=sharing