Week 3.2 - 2R Robotic Arm Challenge

Google Drive Link - 

% Forward kinematics of Robotic Arm (For Loop)
% Plot and Create Animation  

% Inputs 
L1 = 1
L2 = 0.6
L3 = 0.3

theta1 = linspace(0,90,10)
theta2 = linspace(0,90,10)
theta3 = linspace(0,60,10)

ct=1
for i = 1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        for k = 1:length(theta3)
            THETA3 = theta3(k);
            % Co-Ordinates
            X0 = 0
            Y0 = 0

            % Calculate (X1 Y1 , X2 Y2)

            X1 = L1*cosd(THETA1);
            Y1 = L1*sind(THETA1);

            X2 = X1 + L2*cosd(THETA2);
            Y2 = Y1 + L2*sind(THETA2);

            X3 = X2 + L3*cosd(THETA3);
            Y3 = Y2 + L3*sind(THETA3);


             % Plotting 

            plot([X0 X1], [Y0 Y1], [X1 X2], [Y1 Y2], [X2 X3], [Y2 Y3],'linewidth',3)
            axis([0 2 0 2])
            pause(0.005)
            M(ct) = getframe(gcf);
            ct = ct+1
        end
    end
end

movie(M)
videofile = VideoWriter('forward_kinematic.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)