Week 2- 2R Robotic Arm Challenge

clear all
close all
clc
% Forward kinematics 2R robotic arm
% Inputs
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
% coordinate
% Forloop
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 = l2*sind(THETA1);
        
        x2 = x1+l2*cosd(THETA2);
        y2 = x1+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(ct)=getframe(gcf);
        ct = ct+1;


    end
end

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







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