Week 2- 2R Robotic Arm Challenge

x = l*cosd(theta)

y = l*sind(theta)

x : Co-ordinates of x-axis

y : Co-ordinates of y-axis

l : Lenght of robitc amrs

theta : Angle made by robitic arms

% program for forward kinematic animation for robitc arm

close all
clear all
clc

%input
l1 = 1;
l2 = 0.5;

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

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
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

%program for video
movie(M)
videofile = VideoWriter('Forwad_kinematic_animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

Error Faced during write a program :-

1) Not able to save a video file of animation

Solution for error :-

1)Arrange one on one session with support engineer.

2) Put error on Forum.

After discussed with support engineer and Forum suggestions i found error in videofile line,actually i write
"videofile = VideoWriter('pendulum.avi', 'uncompressed AVI'),so error due to small 'u' in 'Uncompressed AVI'

Link of animation :-

https://drive.google.com/file/d/1Dd0NyfOVL2DGMEl-f8lbTIUiCqnTeRhh/view?usp=sharing

Conclusion :-

Getting coordinates of the of robotic arms with animation