Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

% forward kinematics of a robotic arm
% Inputs
l1=1; l2=0.5;
theta1=linspace(0,80,10);
theta2=linspace(0,90,10);

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= l1*sind(THETA1);
        x2=x1+l2*cosd(THETA2);
        y2=y1+l2*sind(THETA2);

        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',4)
        axis([-0.1 1.5 0 1.5])
        pause(0.03);

        M(ct)= getframe(gcf);
        ct-ct+1
    end
end
movie(M)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)