Forward Kinematics of a 2R Robotic Arm simulation using MATLAB

% forward kinematics of a 2r robotic arm
clear all
close all
clc

l1=1;
l2=0.5;
theta1=linspace(0,90,4);
theta2=linspace(0,90,4);
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([-0.1 1.5 0 1.5])
pause(0.3)
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)