Week 2- 2R Robotic Arm Challenge

clear all

close all

clc

%inputs - length of the first link & second link

l1=1;

l2=0.5;

% thetas is going to be array by linspace command

theta1=linspace(0,45,10);

theta2=linspace(0,45,10);

%for loop to calculate positions of theta 1&2 (here each and every time for loop is executed its say counter=ct+1)

ct=1;

for i = 1:length(theta1)

angle1= theta1(i);

for j = 1:length(theta2)

angle2= theta2(j);

% initial position coordinates

x0 = 0;

y0 = 0;

% end position coordinates of link 1

x1=l1*cosd(angle1);

y1=l1*sind(angle1);

%link2

x2=x1+l2*cosd(angle2);

y2=y1+l2*sind(angle2);

% graph the positions in one single figure by plot command , for each value of theta1 theta2 changes

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',5)

% fixing the axis changing x-limits and y limits

axis([-0.1 1.5 0 1.5])

%pause command to pause the code

pause(0.3)

%getting the figure as a figure and storing in the form of array m(induvidual frame saved in array called as m.

m(ct) = getframe(gcf);

ct = ct+1;

%generating movie

movie(m)

videofile=VideoWriter('forward_kinematics 2r robo arm','uncompressed AVI');

open(videofile)

writeVideo(videofile,m)

close(videofile)

(Q)ERRORS HAPPENED WHILE CODING IS THAT I DIDNOT ABLE TO GET THE FIGURE SAVED AS A VIDEO AFTER EXECUTE

(A)AFTER I USED CAPITAL FIRSTLETTER FOR THE Video and write in small