Week 2- 2R Robotic Arm Challenge

% Forward kinamatics of a 2R robotic arm 

clear all
close all
clc

% Inputs
l1=2;
l2=1;

theta1=55;
theta2=35;
%coordinates
x0=0;
y0=0;

x1=l1*cosd(theta1);
y1=l1*sind(theta1);

x2=x1+l2*cosd(theta2);
y2=y1+l2*sind(theta2);

line([x0 x1],[y0 y1],'linewidth',3,'color','b')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')

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);

line([x0 x1],[y0 y1],'linewidth',3,'color','b')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')

%plottig
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([-0.1 1.5 0 1.5])
pause(0.03)
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)

GOOGLE DRIVE LINK: https://drive.google.com/file/d/1WgUIQNsw_DDGDEt4gd49gn_wRrSBD-bl/view?usp=sharing