FORWARD KINEMATICS

%forword kinematics
clear all
close all
clc

%inputs
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=l2*sind(THETA1);
 
 x2=x1+l1*cosd(THETA2);
 y2=y1+l2*sind(THETA2);
 
 %plotting
 plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3)
 axis([-0.5 1.5 0 1.5])
 pause(0.03)
 ct=ct+1;
 end
 end