Week 2- 2R Robotic Arm Challenge
% simulate forward kinematics of a 2R robotic arm
clear all
close all
clc
%input
l1 = 1;
l2 = 0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);
%loop
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',3)
axis([-0.1 1.5 0 1.5])
pause(0.01)
m(ct)=getframe(gcf);
ct=ct+1;
end
end
movie(m)
videofile=Videowriter('forward_kinematics.avi');
open(videofile)
writeVideo(videofile,m)
close(videofile)