Week 2- 2R Robotic Arm Challenge

Aim:- Write a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm

Matlab Code:-

clear all
close all
clc

%inputs
l1 = 2;
l2 = 1;
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 = 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([-0.2 4 0 4])
        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)

Result:-

Explanation of the codes are given in Robotic Arm report which is attached here.

Movie link

https://drive.google.com/drive/folders/1gg03sehVLK8HuJqbCAYO2qGhOqt8yTnY?usp=sharing