Week 2- 2R Robotic Arm Challenge
% Forward kinematic of a 2R robotic arm
close all
clear all
clc
%Input
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
for i = length(theta1)
Theta1 = theta1(i);
for j = 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('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)
Animation Link
https://youtu.be/ZHyzfvy8gw0