Week 2- 2R Robotic Arm Challenge

%kinematics_of_a_robotic_arm

%inputs

l1=1;
l2=0.6;

theta1= linspace(0,90,20)
theta2= linspace(0,90,20)

ct=1; %counter

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('robotic_arm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)https://youtu.be/hTKj86Cx5zE