Week 2- 2R Robotic Arm Challenge

%Program to simulate the forward kinematics of a 2R Robotic Arm

clear all
close all
clc

%Inputs of the 2R Robotic Arm

%Lengths of the links
l1 = 1; %length of the first link of the robotic arm
l2 = 0.5; %length of the second link of the robotic arm

%Angles of the links
theta1 = linspace(0,90,6);
theta2 = linspace(0,90,10);

%Code to simulate 2R Robotic Arm
ct=1;
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        %Starting postion of the robotic arm 
        x0 = 0;
        y0 = 0;

        %End postion of the Link 1 
        x1 = l1*cosd(THETA1);
        y1 = l1*sind(THETA1);

        %End postion of the Link 2 
        x2 = x1 + l2*cosd(THETA2);
        y2 = y1 + l2*sind(THETA2);

        %simulate robotic arm in plotting
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'LineWidth',3)
        axis([-.5 1.5 0 1.5])
        pause(0.05)
        M(ct) = getframe(gcf);
        ct = ct+1;
    end
end

%code to convert the saved plot into a video
movie(M)
videofile = VideoWriter('Forward_Kinematic_RoboticArm.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)