Week 2- 2R Robotic Arm Challenge

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%simulate the forward kinematics of a 2R Robotic Arm




clear all
close all
clc
%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


hold off
plot([x0, x1],[y0, y1],[x1, x2],[y1, y2],'linewidth',3);
axis([-0.1 1.5 0 1.5]);
M(ct) = getframe(gcf);
ct = ct+1;
end
end


% for the animation of the arm we should use movie command


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

% link for the animation of robotic arm