Forward Kinematics of 2R Robotic Arm

%Forward Kinematics of 2R Robotic Arm
clear all
close all
clc

%Inputs
l1 = 2
l2 = 1
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);

%Plotting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3);
axis([-1 5 0 3])
pause(0.01)
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)