Week 2- 2R Robotic Arm Challenge

%% The forward kinematics of a 2R 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);
         x0 = 0;
         y0 = 0;

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

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

         %% PLOTTING
         line([x0 x1],[y0 y1],'linewidth',1,'color','b')
         line([x1 x2],[y1 y2],'linewidth',1,'color','r')

         M(ct) = getframe(gcf);
         ct = ct+1;
     end
 end
 movie(M)
 videofile = VideoWriter('Robotic_arm.avi','uncompressed AVI');
 open(videofile);
 writeVideo(videofile,M)
 close(videofile);

EXPLAINATION

Above the matlab program is the forword kinematics of a 2R robotic arm.

i am using input data in two values length and angle.

Angle was separate by 10 segments.

after using the for loop i get the x1,x2,y1,y2 values

after using the plotting command i get the plot

Finaly i using the video file command for the simulation of the robotic arm given the input

note:Below link is google drive link to access the videohttps://drive.google.com/file/d/18tDckajRmiynfCPBAdHHDb9vPGE2kvbU/view?usp=sharing