Week 2- 2R Robotic Arm Challenge

 youtube link  for te kinematic forward https://youtu.be/fPS38789dZY

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(t) = getframe(gcf);
        ct = ct+1
    end
end

movie(M)
videofile = videowriter('forward_kinematics.avi','uncompressed AVI');
open(videofile)
wtitevideo(videofile,M)
close(videofile)



here, l1 -length of the link 1
      l2 -length of the link 2
      THETA1 -angle between link 1 and x axis
      THETA2 -angle between link 2 and x axis
report:
For the program of forward kinematics of a robotic arm ,here to mention the lengths of the links l1&l2 then by using the linspace angles are made calculate the theta.
then using for loop calculating x1,x2,y1,y2 ,to write this programe the syntax errors are formed then resolved it with proper idea .For the video formation makes the video file ,write video naming faces some mistakes.it resolved with to put proper naming.