Week 2- 2R Robotic Arm Challenge

• https://youtu.be/qSnOKOXXpiUhttps://youtu.be/qSnOKOXXpiU
• Clear all command means it removes all variables,globals,functions and MEX links.
• close all means closes all figures whose handles are visible.
• clc means clears all the commands from the command windows.
• Linspace command is used to generate row vector.
• Forloop is used when set of instructions that can be repeated for a specified number of times.
• end command terminates the set of instructions.
• The plot command is used to plot a line graph between variables x and y.

% forwarward kinematics of a 2r robot
clear all
close all
clc
%inputs
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,20); 
theta2 = linspace(0,90,20);
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 = l2* sind(THETA1);

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


        %ploting

        plot([x0 x1],[y0 y1],[x1 x2],[y1  y2],'linewidth',3)
        axis ([-0.1 1.5 0 1.5])
        pause (0.01)

        M(ct) = getframe(gcf);
        ct = ct+1;
        
    end
end

movie(M)
videofile = VideoWriter('forwardkinematics_2Animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)