Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

%inputs for arms

l1 = 0.75;
l2 = 0.88;

%inputs for theta
theta1 = linspace(0,90,15);
theta2 = linspace(0,90,20);

%input for increment factor starting point
ct = 1;

for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
%coordinates of arm points
x0 = 0;
y0 = 0;

x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);
y2 = y1 + l2*sind(THETA2);

%plotting of lines

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
%selecting range to show lines clearly
axis([0 2 0 1.8])
%frame time difference
pause(0.05)
%array to store graphical representation
M(ct) = getframe(gcf);
ct = ct + 1;
end

end

%making a video from each figure
movie(M)
%saving video to a file
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)