Week 2- 2R Robotic Arm Challenge

https://youtu.be/IcQU2ldzI5Q

% forward kinematics of a robotic arm
clear all
close all
clc

%inputs

% Length of link 1
l1=10;

% length of link 2
l2=5;

% Angle with respect to X axis

% Angle of link 1 
theta1= linspace(0,90,9);

% Angle of link 2
theta2= linspace(0,120,12);

ct=1;

% For loop for link 1 and link 2

for i = 1:length(theta1)
    THETA1 = theta1(i);

    for j = 1:length(theta2)
        THETA2 = theta2(j);

        % Values of x0 and y0
        x0 = 0;
        y0 = 0;

        % Values of x1 and y1
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);

        % Values of x2 and y2
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);

        % Plotting

        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',4)

        % Labeling X axis and Y axis
        xlabel('X Axis')
        ylabel('Y Axis')

        % Grids on graph
        grid on

        % Value range of X axis and Y axis
        axis([-5 16 0 16])
        pause(0.02)
        M(ct) = getframe(gcf);
        ct = ct+1;
        
    end
end

% Codes to get good and smooth video of simulation

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