Week 2- 2R Robotic Arm Challenge

%animate the program forward kinematics of 2r robotic arm

% set the input values
l1=1;
l2=0.5;

%if the theta values are change when animate using linspace
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

%using for loop

ct=1
for i=1:length (theta1);
  
    THETA1=theta1(i);
    for j=1:length (theta2);
    THETA2=theta2(j);
     x0=0;
     y0=0;

 %find other values

 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([-1 1.5 0 1.5])
 xlabel ('xaxis');
 ylabel ('yaxis');
 pause(0.3);
M(ct)=getframe(gcf);

 ct=ct+1;
    end
end   
%to create a movie
movie(M)
videofile = VideoWriter('froward_kinematc.avi','Uncompressed AVI');
open(videofile);
writeVideo(videofile,M)
close(videofile)


from above program i animate the 2d output of 2r robotic arm movements to set the theta values by using linspace command
   using for loop to create a animation
 and getframe(gcf) for making a movie

and the link for the  movie is

https://youtu.be/a8uSVaT7fg0