Week 2- 2R Robotic Arm Challenge

https://drive.google.com/file/d/1JTN-rT8aiil-yv4Cs9huAClTZeO3KwOX/view?usp=sharing

% forword kinematics of a 2R robotics arm manipulator 
clear all 
close all
clc

% inputs
l1 = 1;
l2 = 0.45;

theta1 = 45;
theta2 = 90;

% coordinates
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','r')
line([x1 x2],[y1 y2],'linewidth',3,'color','g')


clear all 
close all
clc

% inputs
l1 = 1;
l2 = 0.45;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

ct = 1
for i = 1:length(theta2)
      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',4)
axis([-1 2 0 2])

pause(0.03)
M(ct) = getframe(gcf);
ct = ct+1;



end

end
movie(M)
Videofile = VideoWriter("robotics_arm2.avi",'uncompressed AVI')
open(Videofile)
writeVideo(Videofile,M)
close(Videofile)