Forward Kinematics of a 2R Robotic Arm

%Forward Kinematics of a 2R robotic arm manipulator
clear all
close all
clc

%Inputs
l1=2;
l2=0.75;
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);
    
%Coordinates
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([0,3,0,3])

pause(0.005)
%creating and saving image for evry iteration
M(ct) = getframe(gcf);        
      
img_name = sprintf('%05d.png',ct);
saveas(gca, img_name)
ct=ct+1;
end
end

Running this program we get a total of 100 images which then i combined and formed a video from gifmaker.me and uploaded it on the you tube, the link for the same is as

https://youtu.be/6N46Txr1NBo

Thankyou.