Week 3.2 - 2R Robotic Arm Challenge

https://drive.google.com/drive/folders/16XsV43P-9PL4fc6zGT4mQmwTXeWfMPNh?usp=sharing

clear all
close all
clc
% Define arm lengths
l1 = 2;
l2 = 1.5;

% Define joint angles
theta1 = linspace(0, 90, 20);
theta2 = linspace(0, 90, 20);

% Calculate end effector positions for all combinations of joint angles
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 = l2*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([-0.3 3.5 0 3])
        pause(0.04)
        M(ct)= getframe(gcf);
        ct = ct+1;
    end
    
end

movie(M)
videofile = videowriter ('forword_kinematics.avi', 'uncompressed AVI');
open(videofile)
writevideo(videofile,M)
close(videofile)