Week 2- 2R Robotic Arm Challenge

% program in Matlab to simulate the forward kinematics of a 2R Robotic Arm
close all
clearvars
clc

% Arms lengths, l1 attached at origin and l2 attached at the end of l1

l1= 1;
l2 = 0.5;

% theta1 and theta2 are angle of arms wrt x-axis

theta = linspace(0, 90, 20);
%theta2 = linspace(0,180, 4);

ct = 1;
for i= 1:length(theta)
    THETA1 = theta(i);
    for j= 1:length(theta)
        THETA2 = theta(j);
        x0 = 0;
        y0 = 0;           % origin point
        x1 = l1*cosd(THETA1);
        y1 = l1*cosd(THETA1);   % end point of arm 1
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);
        
        %plotting
        %
        % hold on
        plot([x0 x1], [y0 y1], [x1 x2], [y1 y2], LineWidth=2.5)
        axis([-0.1 2 0 2])
        pause(0.1)
        M(ct) = getframe(gcf)
        ct = ct+1;

    end
end

movie(M)
videofile = VideoWriter('Robotic_Arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)