Week 2- 2R Robotic Arm Challenge

Aim :-
       To write a program in matlabe to simulate the forward kinameatics of a 2R Robitc Arm.


Objective :-
   Write a program to simulate forward kinamatiacs of a 2R rebotic Arm.
   To creaete a Movies / Anoimation from the obtained from the program.

           
Matbale coad :

program for 2R robotic arm challange.


clear all 
close all 
clc

l1=1;
l2=0.5;

theta1= linspace(0,90,5);
theta2= linspace(0,90,5);
 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

 figure(1)
 
 plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
 %axis([-0.1 1.5 0 1.5]);
 xlabel('Y')
 ylabel('X')
 title('simple pendulum')
 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)





google drive link :-

https://drive.google.com/file/d/1mDeirjESP_eOpRMittPRjiIf5wZOh8NF/view?usp=sharing