Week 3.2 - 2R Robotic Arm Challenge

%program for 2d Robotic Arm Challenge

clear all 
close all
clc
%lenght of arms are intilized 
L1=1;
L2=0.5;
%angle of movement of each aram with repect to x-axis 
theta1 = linspace(1,90,20);
theta2 = linspace(1,90,20);

%co-ordinates for the start point 
ct=1;
for i=1:length(theta1)
    THETA1 = theta1(i);
    for j = 1:length(theta2)
        THETA2 = theta2(j);
        
    x0 = 0;
    y0 = 0;
    %co-ordinates for the link 1
    x1 = L1*cosd(THETA1);
    y1 = L1*sind(THETA1);
    %co-ordinates for the link 2
    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])% restricting the axis 
    pause(0.03)
    M(ct) = getframe(gcf);%capturing the frames 
    ct=ct+1;
    end 
end 
%creating the avi movie file 
movie(M)
videofile = VideoWriter('forward-kinamatics.avi','uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)

animation file google drive link

https://drive.google.com/file/d/1QUd_S0zwkQnFquocgRFxyu_ZtCVc64P8/view?usp=sharing