Week 2- 2R Robotic Arm Challenge

% forward kinematic of 2d robotics arm manipulator

%inputs

l1 =1;

l1 =0.5;

theta1=45;

theta2=30;

%coordinates

x0 =0;

y0 =0;

x1 =l1*cosd(theta1);

y1 =l1*sind(theta1);

x2 =x1+l2*cosd(theta2);

y2 =y1+l2*sind(theta2);

%plotting

line([x0 x1],[y0 y1],'linewidth',3,'color','b')

line([x1 x2],[y1 y2],'linewidth',3',color',r')

the output came in with line this output not convinent we try commands to make a movie file

%inputs

l1 =1;

l2 =0.5;

theta1=linspace(0,90,40);

theta2=linspace(0,90,40);

for i=1:length(theta1);

THETA1=theta(i);

for j=1:length(theta2);

THETA2=theta(j);

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([-0.1 1.5 0 1.5])

pause(0.03)

m(ct)=getframe(gcf);

end

end

movie(m)

videofile= videowritter('forward_kinematic.avi','uncompressed AVI')

open(videofile)

writevideo(videofile,m)

close(videofile)