Week 2- 2R Robotic Arm Challenge

%inputs

l1=1;

l2=0.5;

theta1=linspace(0,90,10)

theta2=linspace(0,90,10)

%coordinates

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);

%plotting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)

axis([-0.2 1.2 0 1.3 ])

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)

The program given above is the illustration of forward kinematics of a 2d robotic arm.

i faced an error due a few silly mistakes i did while writing the program like i forgot to define THETA1 AND THETA2 but did learn about the mistake when i compiled the program and was able to get results which are attached below.