Week 2- 2R Robotic Arm Challenge

EXPLANATIONOF CODE

clear all - To clear all the variables from the current workspace.

close all - It close all figures whose handles are visible.

clc - clc clears all the taxt from the command window.

l1 - l1 is length of 1st link.

l2 - l2 is length of 2nd link.

theta - theta1 and theta2 an array, which have 20 values between 0 to 90.

for loop - from 1 to length of theta which is 20, each and every time going to store only one value but it's value going to change from 1 to 20, each time  the value changers it is going to execute the set of command.

THETA - Uper case theta is variable, it takes one vlue.

Line 18 & 19 - This is the starting point of link 1(this is base of robot).

Line 21 & 22 - cosd & sind we need degrees.

plot - plot is used to create a graphical representation of some date.

axis - It is going to change x limit and y limit.

pause - It visibles program amimation.

ct - It is incrimination.

end - This keyword is used to terminate the function.

movie(M) - Matlab is going to genrate a movie for all those fram

% forward kinematics of 2R robotics Arms

clear all
close all
clc

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(0.01)
ct=ct+1;
M(ct) = getframe(gcf);
    end
end

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