I. Single Movement from One Position to another Position

Set the orientation of the robot at start point as a straight line to locate endpoint at $3i-4j.$ With this configuration, calculate the angles of ${}_1$ and ${}_2.$ In the code listed in the next page, replace the value of theta$11$ with ${}_1$ and theta$21$ with ${}_1.$ These two angles are the starting points.

Calculate the angles of ${}_1$ and ${}_2$ with the second link lies horizontally. Keep in mind that the endpoint of the two$-$link mechanism must be located at $x=3ft.$ In the code listed in the next page, replace the value of theta$12$ with ${}_1$ and theta$22$ with ${}_1.$ These two angles are the starting points.

Use the following code with the calculated results to simulate the angular movement of the two joints. Observe the movement of the endpoint of the mechanism.

clear; clc;

$L1=3$;

L$2=2$;

thetal $=$

$p0=\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$;

thetal $=$ thetal$1$: $($theta$12-$theta$11)\frac{?}{20}$: thetal$2$;

theta$2=$ theta$21$: $($theta$22-$theta$21)/20$: theta$22$;

framemax $=20$;

M$=$moviein $($framemax$)$;

for $k=1$:$20$

$T1=$RobotConv$(1(k),0,L1,0)$;

$T2=$RobotConv$(2(k),0,L2,0)$;

$$ Forward kinematics

$p0=\left[\begin{array}{ccc}0& 0& 0\end{array}\right]$;

$p1=$ RobotPosition $(T1)$;

$p2=$ RobotPosition $(T{1}^{***}T2)$

p$1=$ RobotPosition $($T$1)$;

p$2=$ RobotPosition $(T1**T2)$;

figure $(1)$

$(1)$ p$1(1)$ p$2(1)]$;

$Y=[p0(2)p1(2)p2(2)]$;

plot $($X$,$ Y$,\text{'}$ O$-\text{'})$

axis$([-$L$1-$L$2$ L$1+$L$2-$L$1-$L$2$ L$1+$L$2])$;

grid

$M(k)=$getframe$(gsubf)$;

end