Week 3.2 - 2R Robotic Arm Challenge

%Animation of a 2R robotic arm
clear all
close all
clc

%Input
l1 = 2;
l2 = 1.5;
theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
ct = 1;
for i=1:length(theta1)
alpha = theta1(i);
for j=1:length(theta2)
beta = theta2(j);
x0 = 0;
y0 = 0;
x1 = l1*cosd(alpha);
y1 = l1*sind(alpha);
x2 = x1 + l2*cosd(beta);
y2 = y1 + l2*sind(beta);
%plotting
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',2)
axis([-0.1 2 0 2])
pause(0.02)
M(ct) = getframe(gcf);
ct = ct+1;
end
end
movie(M)
videofile = Videowriter('robotic_arm_animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)