Week 2- 2R Robotic Arm Challenge

%forward kinematics of 2r robot arm:
close all
clear all
clc

%inputs of the robot arm:
%length of the 1st link:
l1=1;
%length of the 2nd link:
l2=0.5;
%angle created by the link 1:
theta1=linspace(0,90,10);
%angle created by the 2nd link:
theta2=linspace(0,90,10);

%count:
ct=1;

for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta2)
     THETA2=theta2(j);

     %co ordinates of the robot arm
     x0=0;
     y0=0;
     x1=l1*cosd(THETA1);
     y1=l1*sind(THETA1);
     x2=x1+l2*cosd(THETA2);
     y2=y1+l2*sind(THETA2);

      %PLOTTING OF THE ARM:
      plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
      axis([-3 3 0 4])
      pause(0.03)
      M(ct) = getframe(gcf);
      ct=ct+1;
    end   
end

movie(M)
videofile= VideoWriter('forward_kinematics.avi','uncompressed JPEG AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

explanation:

first open the matlab sheet

then input the link length

now give the degree

then start the counter

now for loop is used for repeat the code again and again for geting desire

then plot the lines of the link

now create a avi file

then run the code

now save the code and animate it