2-D Robotic Arm Manipulator Animation

% Forward Kinematic of a 2-D Robotic Arm Manipulator
clear all 
close all
clc

l1= 2; %langth of base arm
l2=1; %length of hand/grabber

t1=linspace(0,90,20); %range of angles, i.e., the space for the movements
t2=linspace(0,90,20);
c=1;
for i=1:length(t1)
    T1=t1(i);
    
    for j=1:length(t2)
        T2= t2(j);
        
        x0=0;
        y0=0;
        
        x1= l1*cosd(T1);
        y1= l1*sind(T1);
        
        
        x2= x1+ l2*cosd(T2);
        y2= y1+ l2*sind(T2);
        
       plot([x0 x1], [y0 y1],[x1 x2],[y1 y2] ,\'linewidth\',3)
    axis([-2 3 -2 3])
       pause (0.05) %speed of frames
    %frames
    M(c)=getframe(gcf);
    c=c+1;
    end
        
end 
 %creating animation from the frames
movie(M)
vf = VideoWriter(\'2-D_Robotic_Arm.avi\');
open(vf)
writeVideo(vf,M)
close(vf)

VideoLink: https://www.youtube.com/watch?v=x44HNxXI1Zk