2R robotic arm manipulator

%Forward kinematics of a 2R robotic arm manipulator
clear all
close all
clc

% input
l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,10);
theta2 = linspace(0,90,10);
ct = 1;
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
x0 = 0;
y0 = 0;
x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);
x2 = x1+l2*cosd(THETA2);
y2 = y1+l2*sind(THETA2);
% ploting
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([-0.1 1.5 0 1.5])
pause(0.3)
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)