Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

%input

%length of robotic arm

l1 = 2;

l2 = 1;

%angle between the base and robotic arm

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,50);

%for end loop

ct = 1;

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1:length(theta2)

THETA2 = theta2(j);

x0 = 0;

yo = 0;

x1 = li*cosd(THETA1);

y1 = li*cosd(THETA2);

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 3 0 3])

pause(0.01)

M(ct) = getframe(gcf);

ct = ct+1;

end

%conversion of plot into video

movie(M)

videofile = VideoWriter('forward_kinematics.avi', 'uncompressed AVI')

open(videofile,M)

close(videofile)