Week 3.2 - 2R Robotic Arm Challenge

% forwarward kinematics of a 2r robot
clear all
close all
clc
%inputs
l1 = 1;
l2 = 0.5;

theta1 = linspace(0,90,20);
theta2 = linspace(0,90,20);
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);

%ploting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis ([-0.1 1.5 0 1.5])
pause (0.01)

M(ct) = getframe(gcf);
ct = ct+1;

end
end

movie(M)
videofile = VideoWriter('forwardkinematics_2Animation.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)