Week 2- 2R Robotic Arm Challenge

% forward kinematics of a 2R robotic arm manipulator

clear all
close all
clc

% input
l1 = 1;
l2 = 0.5;

theta1 = 90;
theta2 = 90;

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

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

end
end