Week 2- 2R Robotic Arm Challenge

%forwar_kinematics_of_a_2R_robotic_arm

%inputs

l1 = 2;

l2 = 1;

theta1 = linspace(0,90,15);

theta2 = linspace(0,90,15);

ct = 1;

for i = 1 : length(theta1)

THETA1 = theta(i);

for j = 1 : length(theta2)

THETA = theta(j);

%coordinates

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([0.2 1.5 0 1.5]);

pauseon(0.1);

M(ct) = getframe(gcf);

ct = ct+1;

end

end

movie(M)

videofile = Videowriter('forward_kinematics.avi','uncompressed_avi');

open(videofile)

writevideo(videofile)

close(videofile)