Week 3.2 - 2R Robotic Arm Challenge

https://youtu.be/ZYsk_ipm2UI

clear all
close all
clc

% inputs
l1 = 1 ;
l2 = 0.5 ;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);

ct=1
for i = 1:length(theta1);
    THETA1 = theta1(i);
    for j = 1:length(theta2);
        THETA2 = theta2(j);

% coordinates
x0 = 0;
y0 = 0;

x1 = l1*cosd(THETA1);
y1 = l1*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([-0.1 1.5 0 1.5])
pause(0.03)
M(ct) = getframe(gcf);
ct = ct+1;


    end
end

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



Report:
started with 'clear all' command is used to delete all the previous variables in workspace
then 'close all' command is used to close all the previous plots
then 'clc' command is used to clear command window
then inputs are inputed as the lenghts of l1 and l2 and also values of theta1 and theta2 are inputed using linspace command. here linspace command is used to get 10 values with equal interval between two successive values of theta from 0 to 90.
Then for loop is taken to get co-ordinates of l1 and l2 at all values of theta2 for each value of theta1. then for loop is ended and to get the animation the command videowriter is used. then the videofile is open , the videofile is written as AVI format and named it as 'forward_kinematics.avi' and then videofile is closed.
you can check the animated video using the above link.