Week 2- 2R Robotic Arm Challenge

%step by step Explanation of Forward Kinematics Of a 2R Robotic Arm Manipulator

% Inputs
 Link 1 = (l1)
 Link 2 = (l2)

 theta1 = Rotating Direction B/W the Link 1
 theta2 = Rotating Direction B/W the Link 2

% Co ordinates
 (x0,yo) = starting points of the 2R-Robotic Arm

 (x1,y1) = positions of link 1
 L1*cosd(theta1),L1*sind(theta 1= End points of the link 1
 
 (x2,y2) = positions of link 2
 x1+L2*cosd(theta2),y1+L2*sind(theta2) = End points of the link 2

 Linspace = It is used to determine the INB/W values 
      Eg = (0,90,10)
         = (0    10    20    30    40    50    60    70    80    90)

 In this the for loop is used for calculating the values of THETA1 & THETA2
 THETA1 = (i)
 THETA2 = (j)
  From given values (i),(j) the THETA values can be determined

 From this function the animation videos of plotting can be identified
 movie(M)
 videofile = videowriter('forward_kinematics.avi','uncompressed AVI');
 open(videofile)
 writevideo(videofile,m)
 close(videofile)

% Forward Kinematics Of a 2R Robotic Arm Manipulator

% Inputs
l1 = 1;                           
l2 = 0.5;                         

theta1 = 45;                       
theta2 = 90;                       
% Co ordinates
x0 = 0;                            
y0 = 0;

x1 = l1*cosd(theta1);              
y1 = l1*sind(theta1);                        
x2 = x1+2*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
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);

        %plotting
       
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
        axis([-0.1 1.5 0 1.5])
        pause(0.3)
        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)