Week 2- 2R Robotic Arm Challenge

AIM

To develop a program to simulate the forward kinemtics of 2R Robotic.

The program is developed and runned and the movie is created according to the need .

% Forward kinematics of a 2R robotic arm  manipulator
clear all
close all
clc

%Inputs
l1 =1;
l2 =0.5;
theta1=linspace(0,90,10);
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);

   %Ploting
   pause(0.04)
   plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
   axis([-0.1 1.5 0 1.5])
   ct=ct+1;
   A(ct)= getframe(gcf);
   end
    
end
 Movie(A)
 videofile = VideoWriter('forward_kinematics.avi','Uncompressed Avi');
 open(videofile)
 writeVideo(videofile,A)
 close(videofile)

I am attaching the link of the movie file and the simulation program along with this answer below

Arm.https://drive.google.com/file/d/1ywhuP725T_4XozwQRsCO_Hh0EpYribyk/view?usp=sharing