Week 2- 2R Robotic Arm Challenge

output https://youtu.be/V8_RksJyJXk

clear all
close all
clc

% inputs

l1 =2;
l2 = 1;

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);

%co-ordinates
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([-0.3 3 0 3])
pause(0.03)
M(ct)=getframe(gcf);
ct=ct+1;
    end
end

%to make a movie
movie(M)
videofile = VideoWriter('forward_kinematics_of_a_robotic_2R_arm.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)