Week 2- 2R Robotic Arm Challenge

https://youtu.be/xb7MaJzSoRg

% Forward kinematics of 2R Robot

clear all 
close all 
clc

% inputs 

% Length of the 1st Arm 
l1 = 2;

% Length of the 2nd Arm 
l2 = 1.5;

% Angle between Base & Arm with 150 Equal Intervels from 0 to 90 Deg 
theta1 = linspace(0,90,150);
theta2 = linspace(0,90,150);

ct = 1;

% For loop to check the different Arm Angles 
for i = 1:length(theta1) % Arm angle considered from 1 to 90 deg with 150 Equal Intervals 
    THETA1 = theta1(i);
    for j = 1:length(theta2)% Arm angle considered from 1 to 90 deg with 150 Equal Intervals 
        THETA2 = theta2(j);
 
        x0 = 0; % Start point of 1st Arm 
        y0 = 0; % Start point of 1st Arm

        x1 = l1*cosd(THETA1); % End point of 1st arm / STart point of 2nd arm
        y1 = l1*sind(THETA1); % End point of 1st arm / STart point of 2nd arm

        x2 = x1 + l2*cosd(THETA2); % End point of 2nd arm 
        y2 = y1 + l2*sind(THETA2); % End point of 2nd arm

        %Plotting of Arm kinematics

        % Plotting the 1st arm from the Point X0/y0 to x1/y1 & 2nd arm from
        % x1/y1 to x2/y2 

        plot ([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

        %setting Axis Limits 
        axis([-0.1 5 0 5])
        % Pause the graph
        pause(0.1)
        %counter Incriment 
        ct = ct + 1;

    end
end