Week 3.2 - 2R Robotic Arm Challenge

close all
clear all
clc

% inputs
l1 = 1;
l2 = 0.5;
x0=0;
y0=0;
theta1= linspace(0,90,10);
theta2 = linspace(0,90,10);

ct=1;
for i = 1:length(theta1)
        THETA1=theta1(i);

%using second for loop inside a first to access all the values of j for all values of i.
        
for j = 1:length(theta2)
            THETA2=theta2(j);
            x0=0; y0=0;
            x1= l1*cosd(THETA1);
            y1= l2*sind(THETA1);
            x2= x1+ l2*cosd(THETA2);
            y2= y1+ l2*sind(THETA2);

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

           % defining the range of axis for the graph

           axis([-0.1 1.5 0 1.5])
           pause(0.1)
           M(ct) = getframe(gcf);
            ct = ct+1;

        end

end
movie(M)
videofile= VideoWriter('forward_kinematics.avi','uncompressed AVI');
open(videofile);
writeVideo(videofile, M)
close(videofile)



% fortunately I did not face any major error and code ran soomthly.
%thank you