Week 3.2 - 2R Robotic Arm Challenge

close all
clear all
clc
%% inputs
l1 = 4; %length link1
l2 = 3; %length link2

theta1 = linspace(0,90,4);
theta2 = linspace(0,90,4);

%% for loop
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',2)
        grid on
        axis([-0.1 8 -0.1 8])
        pause(0.1)

    end
end

%% movie
movie(m)
videofile = VideoWriter('forward kinamatics of 2R robotic arm','uncompressed AVI');
open(videofile)
writeVideo(videofile,m)
close(videofile)