Week 3.2 - 2R Robotic Arm Challenge

OUTPUT VIDEO LINK:

https://www.youtube.com/watch?v=YMb1mLJ6AJI

MAIN PROGRAM

close all %delete all variables 
clear all %delete all plots 
clc %clear command window 

%inputs 
theta1 = linspace(0,90,20);%Generating 20 angle points between 0 and 90
theta2 = linspace(0,90,20);%Generating 20 angle points between 0 and 90

l1 = 1;%length of 1st arm
l2 = 0.5;%length of second arm
ct = 1;
for i=1:length(theta1)
    for j = 1:length(theta2)
    x0 = 0
    y0 = 0;

    x1 = l1*cosd(theta1(i));%x1 cordinate for specific value of theta1 
    y1 = l1*sind(theta1(i));%y1 cordinate for specific value of theta1

    x2 = x1 + l2*cosd(theta2(j));%x2 cordinate for specific value of theta2
    y2 = y1 + l2*sind(theta2(j));%y2 cordinate for specific value of theta2

    %plotting 

    plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',1)
    axis([0 1.5 0 1.5]);%x and y axis limits for plot 
    pause(0.005)%pause time to visualize the arm rotation
    
    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)