Week 2- 2R Robotic Arm Challenge

During starting of the program

Program running video link provide in youtube https://youtu.be/OyHhTozpRU8

clear, close, clc commands are used

step 1 : add input such as length l1 and l2 ;

step 2 : add angle of the link theta 1,2 to attend multiple value of theta i have used linspace commands

step 3 : add the counter value for the program to repeat multiple sequence.

step 4: For the loop operation i and j are used where as i = 1: length(theta1) ; j = 1:length (theta2)

step5 : Giving the value of the coordinate of x0,y0,x1,y1,x2,y2

step6 : using the plot command coordinate are been plotted and sequence spped is set to 0.11

step7: saving the file in video format and run it

Error occured

during the axis first i change the value in (-0.25,-0.1,0,0.1,0.25) , then i rectified the mistakes

during save the video command got an issue in lower case and then i changed into upper case then got it correctly.

%forward kinematics of 2R robotic arm motion
 
 clear all
 close all
 clc

 %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=l1*sind(THETA2);

         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(0.03)
         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)