Week 2- 2R Robotic Arm Challenge

%AIM- To write matlab programm for 2r farward kinematics animation
%input


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(0.03)
        M(ct) = getframe(gcf);
        ct= ct+1;
    end

end     
movie(M)
videofile = VideoWriter ('farward_kinematics.avi', 'Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)



Google drive link- https://drive.google.com/file/d/1alUMnYpC7V_AK9m5XJV6P5dA7g2lR3z_/view?usp=sharing