Week 3.2 - 2R Robotic Arm Challenge

% Forward Kinematics of a 2R Robotic arm

close all

clear all

clc

% inputs

l1 = 1; % lenght link 1 = l1

l2 = 0.5; % lenght link 2 = l2

theta1 = linspace(0,90,4);

theta2 = linspace(0,90,4);

% % for loop

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);

grid on

axis([-0.1 1.5 0 1.5]);

pause(0.03);

m(ct) = getframe(gcf);

ct = ct+1;

end

end

% movie

movie(m)

videofile = VideoWriter('Forward Kinematics of a 2R Robotic arm','Uncompressed AVI')

open(videofile)

writeVideo(videofile,m)

close(videofile)

%result

VideoWriter

General Properties:

Filename: 'Forward Kinematics of a 2R Robotic arm.avi'
Path: 'C:\Users\sushil sonwane\Downloads'
FileFormat: 'avi'
Duration: 0

Video Properties:

ColorChannels: 3
Height: []
Width: []
FrameCount: 0
FrameRate: 30
VideoBitsPerPixel: 24
VideoFormat: 'RGB24'
VideoCompressionMethod: 'None'