1. Divide the 30 and 45 into 100 steps. That is theta1 = 0:30/100:30; theta2 = 0:45/100:45;

Observe the animation of the 2-link robot. Change both angles of 1 and 2 to be 360. Modify the code to observe the whole movement.

framemax = 100; M=moviein(framemax); set(gcf,'Position',[100 100 640 480]);

for k = 1:100 T1=RobotConv(theta1(k), 0, 3, 0); T2=RobotConv(theta2(k), 0, 2, 0);

p0 = [0 0 0]; p1 = RobotPosition(T1); p2 = RobotPosition(T1*T2); figure(1) X = [p0(1) p1(1) p2(1)]; Y = [p0(2) p1(2) p2(2)]; plot(X,Y,'o-') axis([-1 8 -1 8]); grid M(k) = getframe(gcf); end

RobotConv.m

function T = RobotConv(theta,d,a,alpha)

rad = pi/180;

M_theta = [cos(theta*rad) -sin(theta*rad) 0 0;sin(theta*rad)

cos(theta*rad) 0 0;0 0 1 0;0 0 0 1];

M_d = [1 0 0 0;0 1 0 0;0 0 1 d;0 0 0 1];

M_a = [1 0 0 a;0 1 0 0;0 0 1 0;0 0 0 1];

M_alpha = [1 0 0 0;0 cos(alpha*rad) -sin(alpha*rad) 0;0 sin(alpha*rad)

cos(alpha*rad) 0; 0 0 0 1];

T=M_theta*M_d*M_a*M_alpha;

RobotPosition.m

function P = RobotPosition(T)

x = T(1,4);

y = T(2,4);

z = T(3,4);

P = [x y z];