Week 2- 2R Robotic Arm Challenge

% simulate the forward kinematics of a 2R Robotic Arm.

close all
clear all
clc

%input
L1=1;
L2=0.5;

theta1=linspace(0,90,10)
theta2=linspace(0,90,10)

%loop
ct=1
for i = 1:length('thetal')
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',3)
axis([-0.1 1.5 0 1.5])
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)
closed(videofile)

ERRORS:-

1^st Error:- I had write clear all starting with capital C in place of c.

Program:-

% simulate the forward kinematics of a 2R Robotic Arm.

close all
clear all
clc

%input
L1=1;
L2=0.5;

Outut:-

2^nd Error:- In forloop command I forgot to place : in between i and length(theta1), due to which plots were only generated for final position of link 1.

Program:-