Week 3.2 - 2R Robotic Arm Challenge

%kinematics of 2R robotic arm using Octave

clear all

close all

clc

%input link length

R=1;

theta1 = linspace(0,90,50); %angle between link1 and base

theta2 = linspace(0,90,50); %angle between link 2 and link 1

for i=1:length(theta1)

THETA1 = theta1(i);

for j =1: length(theta2)

THETA2 = theta2(j);

x0 = 0;

y0 = 0;

x1 = R*cosd(THETA2);

y1 = R*sind(THETA2);

x2 = x1 + R*cosd(THETA1);

y2 = y1 + R*sind(THETA2);

%Plotting

plot([x0 x1], [y0 y1], [x1 x2], [y1 y2],'linewidth', 3)

axis ([-2 2 0 2])

pause (0.03)

end

end