Week 2- 2R Robotic Arm Challenge
Link for Animation: https://drive.google.com/file/d/1r47-nmeWNMsvbIs8DT5yhkaK-sP22Sox/view?usp=sharing
Codes:
% Animation for Robotic arm
close all
clc
% Inputs
% linspace create arrays of value for theta1 & theta2.
theta1= linspace(0,90,4);
theta2= linspace(0,90,4);
l1=1;
l2=0.5;
ct=1;
% Using 'for' loop to generate the value of THETA1 & THETA2
% i will give single values from 1 to length of theta1 which are 0,30,60 & 90, every time loop runs.
% j will give single values from 1 to length of theta2 which are 0,30,60 & 90 every time it executes.
for i=1:length(theta1)
THETA1= theta1(i);
for j=1:length(theta2)
THETA2= theta2(j);
% Starting & End points coordinates
% Starintg point for Link1
x0 = 0;
y0 = 0;
% Ending point for Link 1
x1= l1*cosd(THETA1);
y1= l1*sind(THETA1);
% End point of Link1 & Starting point of Link2 is same
% End point of Link2
x2= x1+l2*cosd(THETA2);
y2= y1+l2*sind(THETA2);
%Plotting
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
pause(0.3)
M(ct)=getframe(gcf);
ct=ct+1;
end
end
% Creating video animation of the plot.
movie(M)
videofile=VideoWriter('Robotic_Arm_Animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)