Week 2- 2R Robotic Arm Challenge
% forward kinematics of a robot arm(animation movie)
%inputs
theta1=linspace(0,90,15);
theta2=linspace(0,90,15);
l1=0.75;
l2=1.25;
% counter command
ct=1;
% for loop
for i=1:length(theta1)
THETA1=theta1(i);
for j=1:length(theta2)
THETA2=theta2(j);
%co-ordinates
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',4)
grid on
axis([-0.1 2 0 2.6])
% to control speed of animation
pause(0.03)
M(ct)=getframe(gcf);
ct=ct+1;
end
end
%to create movie
movie(M)
videofile = VideoWriter('forward_kinematics_of_robotic_arm','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)