Week 2- 2R Robotic Arm Challenge

clear all
close all
clc

% Taking inputs
% Length of link-1 (L1) and link-2 (L2) in meter
L1=1;
L2=0.5;

% Angle traced by link-1 in degrees (theta_1)
theta_1=linspace(0,90,11);

% Angle traced by link-2 in degrees (theta_2)
theta_2=linspace(0,90,21);

% Initialising base coordinates of link-1
x_0=0;
y_0=0;

ct=1;

for i=1:length(theta_1)
    THETA_1 = theta_1(i);    %taking particular values of angle traced by link-1 in order.
    for j = 1:length(theta_2) % Iterating all values of theta_2 for particular value of theta_1
        THETA_2=theta_2(j);   %taking particular values of angle traced by link-2 in order.
        
        % Calculating the coordinates of end point of link-1
        x_1=x_0+L1*cosd(THETA_1);
        y_1=y_0+L1*sind(THETA_1);
        
        % Calculating the coordinates of the end of link-2
        % End coordinates for link-1 are the start coordinates for link-2
        x_2=x_1+L2*cosd(THETA_2);
        y_2=y_1+L2*sind(THETA_2);
        
        % Plotting the robotic arm for simulation
        plot([x_0 x_1],[y_0 y_1],[x_1 x_2],[y_1 y_2], "linewidth",2);
        axis([-0.1 1.5 0 1.5]);