Week 2- 2R Robotic Arm Challenge

OBJECTIVE :- To write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm.

AIM :- A code is attached below of 2R Robotic Arm.

% Forward kinematics of 2R robotic arm manipulator
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(THETA1);

        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)

RESULTS :- A figure is attached with animation of video file, a link is shared to see the video file.

Video link :

https://drive.google.com/file/d/1ULL7ZnhOuZoh1BJy9OjwkPOYF2yEMQJt/view?usp=sharing