Forward Kinematics of 2R Robotic Arm

https://youtu.be/05uF_MsGLfU

close all
clear all
clc





%input

l1=1;
l2=0.5;


theta1= linspace(00,90,10)

theta2= linspace(00,90,10)



ct=1;
for i=1:length(theta1)
    THETA1=theta1(i);
    
    for j=1:length(theta2)
    THETA2=theta2(j);
    
    
    %coordinates
    
  x0=0;
y0=0;

x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);

x2=x1+l2*cosd(THETA2);
y2=x2+l2*sind(THETA2);


%plotting

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3)
axis([-0.1 1.5 0 1.5])
pause(0.04)
ct=ct+1;
end 
end