Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1dyBSozO9bVCvIlF8tCI8PFYnftXUfAUM/view?usp=sharing

% Forward kinematics of a 2R Robotic arm

% Forward kinematics of a 2R Robotic arm (where 2R means 2-rotating Link i.e 2 is a number of link and R is rotation).
% For a given rotation angles of the links we need find the orientation of
% the manipulator which is called as forward kinematics.

clear all
close all
clc

% we need to provide the inputs

l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

%to find the coordinates of the each link



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); % gets the frames of current figure whenever the plot command is executed
        ct = ct+1;
        
    end
    
  
end
movie(M)
videofile = VideoWriter('forward_kinematics.avi', 'Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)