Week 2- 2R Robotic Arm Challenge

linspace = this command used for providing space between 2 no. as per given no.
for loop= A for loop is a repetition control structure that allows you to efficiently write a loop that needs to execute a specific number of times.
cosdand sind - d use for give the ans in degree.
plotting- it is use for plotting the graph
pause- it is use for giving animation time.
M(t)=getframe(gcf)- use for create movie of animation.
videofile- save the the file as per given file name in AVI formate.

%a program in Matlab to simulate the forward kinematics of a 2R Robotic Arm
clear all
close all
clc

%input
l1=1;
l2=0.5;
theta1= linspace(0,90,8);
theta2= linspace(0,90,8);

ct=1;
for  i=1:length(theta1)
     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)
close(videofile)


https://drive.google.com/file/d/1j5U3AWeinZfWSTF2KCanUWkgFB2N1Ayh/view?usp=sharing