Week 2- 2R Robotic Arm Challenge
%for kinematics of a 2R robitic are manipulator
clear all
close all
clc
%inputs
l1=1;
l2=0.5;
theta1 =45;
theta2 =30;
%coordinates
x0=0;
y0=0;
x1=l1*cosd(theta1);
y1=l2*sind(theta1);
x2=x1 + l2*cosd(theta2);
y2=y1 + l2*sind(theta2);
%plotting
line([x0 x1],[y0 y1],'linewidth',3,'color','b')
line([x1 x2],[y1 y2],'linewidth',3,'color','r')
*plotting code is used to plot the line
*theta is angle of arm
*coordinates are used to for plotting
*sind,cosd in mathematical formula to change the angle of arm