Week 2- 2R Robotic Arm Challenge

% program for forwarrd kinematics of a robotic arm
clear all
close all
clc

% inputs
l1=1;
l2=0.5;

theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

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

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 1.5 0 1.5])
pause(0.02)
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)

1. Firstly, i gave clear close annd clc command
2. then i gave the inputs namely l1 &l2
3. The angle at which the robotic arm is working is constantly changing so program should be given accordingly ie angle should increase after each step .So i used a linspace command changing angles 0 to 90.
4. when every time a value is given to theta 1 , THETA1 ia also given a value . these two are the two angles ofthe robotic arm.
5. the value of x1,y1 and x2,y2 is given each time. they are length of the two linkages of the arms.
6. plot is ,ade at each step and it is made into a moving film.
7. the film is stored as avi file .

https://drive.google.com/file/d/1Elkb2HEJOkCdNzkS1SoYA_qSTeRf5_OA/view?usp=sharing