Week 2- 2R Robotic Arm Challenge

% Forward kinematis of a 2R robotic arm manipulator

clear all

close all

clc

% Input

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 = VideoWrite('forword_kinematics.avi','uncompressedAVI');

open(videofile)

WriteVideo(videofile,M)

close(videofile)

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