Week 2- 2R Robotic Arm Challenge

https://youtu.be/HlloDUi420c

clear all
close all
clc

% inputs

L1= 1;
L2=0.6;

theta1=45;
theta2=40;

% coordinates
x0=0;
y0=0;

x1=L1*cosd(theta1);
y1=L1*sind(theta1);

x2=x1+L2*cosd(theta2);
y2=y1+L2*sind(theta2);

% plotting

line([x0 x1],[y0 y1],'linewidth',3,'color','b');
line([x1 x2],[y1 y2],'linewidth',3,'color','r');






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)








                              STEPWISE EXPLANATION

* calculate the position of linl 1 and 2.

* take the length of l1 and l2.

* take the theta1 and theta2.

* take the coordinates. x0 y0 base of robot.

* theta should specified in degrees.

* determine the end point link2. x2 y2

* lets take the inline command.

* list of x coordinates and y coordinates for 2 link.

* open new file. its objective is to take multiple values of theta1 and theta2.

* for each value of theta1 and theta2 to make a plot and creating plot to combine to 
  make animation.

* linspace command is introduced to take the multiple values.

* to change the values of theta1 and theta2 for that the loop is used.

* for loop is is used to take particular values for theta1 and theta2.

* plot all the described coordinates.

* axis is fixed to performed.

* command to form movie.

* described videofile and videowriter.

* close the videofile.





      MENTION ERROR AND STEP TAKEN TO OVERCOME THOSE ERRORS.

* error is occured for not giving same brackets from both sides. after applying brackets from both sides error is resolved.

* error found in loop file. in loop file forgot to type the end in loop file. after applying error is fixed.

* error is found in to perform getframe. there is typing mistake there is given space in between 'get frame' after coorection of typing 'getframe' the error is fixed.

* error of unrecognized during videofile and videowriter.
  given the proper name for the videowriter after given specific name the error is 
  fixed.