Week 2- 2R Robotic Arm Challenge

% Taking inputs

% Length of link-1 (L1) and link-2 (L2) in meter

L1=1;

L2=0.5;

% Angle traced by link-1 in degrees (theta_1)

theta_1=linspace(0,90,11);

% Angle traced by link-2 in degrees (theta_2)

theta_2=linspace(0,90,21);

% Initialising base coordinates of link-1

x_0=0;

y_0=0;

ct=1;

for i=1:length(theta_1)

THETA_1=theta_1(i);

for j=1:length(theta_2)

THETA_2=theta_2(j);

% Calculating the coordinates of end point of link-1

x_1=x_0+L1*cosd(THETA_1);

y_1=y_0+L1*sind(THETA_1);

% Calculating the coordinates of the end of link-2

%End coordinates for link-1 are the start coordinates for link-2

x_2=x_1+L2*cosd(THETA_2);

y_2=y_1+L2*sind(THETA_2);

% Plotting the robotic arm for simulation

plot9([x_0 x_1], {y_0 y_1], [x_1 x_2], [y_1 y_2], "linewidth",2);

axis([-0.1 1.5 0 1.5]);

% Pausing the current plot for a while before moving to the next

% plot

pause(0.03);

% Capturing the current plot to combine later 

M(ct)= getframe(gcf);

% Incrementing ct so that ech frame is captued in M

ct=ct+1;

end

% making a movie from collected frames

movie(M);

% Creating a video file of '.avi' format to save the animation

videofile=VideoWriter('forward_kinematics_of_2R_robotic_arm.avi','Uncompressed AVI');

open(videofile);

% Writing the movie in the videofile created

writeVideo(videofile, M);

close(videofile);