Week 2- 2R Robotic Arm Challenge

%forward Kinematics of a 2R robotic arm manipulator

%input
l1 = 1;
l2 = 0.5;
theta1 =45;
theta2 =90;

%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');

%Inputs
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 = theta1(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);
ct = ct+1;
end
end
movie (M)
videofile=VideoWriter('forward_kinematics_loop_video.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

https://youtu.be/7Rcp8TTgpY0