Week 2- 2R Robotic Arm Challenge
%animation of robotic arm
clear all
close all
clc
%inputs
l1=1;
l2=0.5;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
a=1;
for i =1:length(theta1);
%f = strcat('hello', num2str(i))
THETA1= theta1(i);
for j =1:length(theta2);
THETA2= theta2(j); %assigning to variable
x0=0;
y0=0;
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);
x2 = x1 + l2*cosd(THETA2);
y2 = y1 + l2*sind(THETA2);
%ploting
%figure(ct)
%line([x0 x1],[y0 y1],'linewidth',3,'color','b')
%line([x1 x2],[y1 y2],'linewidth',3,'color','r')%
%hold on
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
%hold off
%plot([x1 x2],[y1 y2],'linewidth',3,'color','r')
axis([-0.1 1.5 0 1.5])
%pause(0.2);
m(a)=getframe(gcf);
a=a+1;%counter
end
end
movie(m)
Videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(Videofile)
writeVideo(Videofile,m)
close(Videofile)