Week 2- 2R Robotic Arm Challenge

Link for the video:- https://youtu.be/ePb4LdxwRZY

Title:- Forward Kinematics of a 2R robotic arm

In this challenge we need to find the workspace of the manupulator. There are two links. 1st link is attatched to the base and the 2nd link is attached to the 1st link.

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

      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)