Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1tA0GtSlbVG1JXMYf8MVgsvmUatfJILy-/view?usp=sharing

Please find the Attached link for the vedio

close all
clc
% AIM is to simulate the forward kinematics of a 2R Robotic Arm
% Inputs- All angles and length are considered hypothethatically 

l1= 1; % Lenth of first link
l2= l1*0.5; % Lenth of second link is half tehe length of first link

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);
% Coordinates of the link 

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',2)
axis([-0 1.5 0 1.5]);

M(ct)= getframe(gcf);
ct=ct+1;
    end
end
movie(M)
videofile= VideoWriter('forward_kinematics_of_a_2R_Robotic_Arm','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)