FORWARD KINEMATICS OF A 2R- ROBOTIC ARM

The following code represents the function of a 2R-Robotic arm having a total arm length of 1.5m. The program basically depicts the overall workspace of the robotic arm. The maximum angle at which both the links can rotate is 90 degrees.

clear all
close all
clc
ct=1;
l1 = 1
l2 = 0.5
theta1 = linspace(0,90,10)
theta2 = linspace(0,90,10)
x0=0
y0=0
for i = 1:length(theta1)
    tet = theta1(i);
    for j = 1:length(theta2)
        tet2= theta2(j);
        
        x1 = l1*cosd(tet);
        y1 = l1*sind(tet);

        x2 = x1 + l2*cosd(tet2);
        y2 = y1 + l2*sind(tet2);

        %plotting
        plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3);
        axis([-0.1 1.5 0 1.5]);
          pause(0.03);
    
        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);