Week 3.2 - 2R Robotic Arm Challenge
% Forward kinematics of a 2R robotic arm manipulator.
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:lenth(theta1)
THETA1= theta1(i);
for j = 1:lenth(theta2)
THETA2 = theta2(j);
x0 = 0;
y0 = 0;
x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);
X2 = x1+l28cosd(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(gfc);
ct = ct+1;
end
end
movie(m)
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,m)
close(videofile)