Forward Kinematics of robotic arm

clear all
close all
clc
%Inputs
l1=1.5;
l2=0.5;
theta1= linspace(0,90,5);
theta2= linspace(0,90,5);

%calulations
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],\'linewidth\',5,[x1 x2],[y1 y2],\'linewidth\',5)
       axis([-1 3 0 3])
       pause(0.01)
       file_text=sprintf(\"robo_arm%d.png\",ct)
       saveas (gca, file_text);  
       
       ct=ct+1;
          
     
   end  
end    
 

When we will give a \'hold on\' command before plot, it will show all the possible directions in which the robotic arm can work in a single figure.

This is how it will look.

Since i am using Octave, I have created a Gif of the above robotic arm simulation as discussed below the video.

USING MATLAB:

clear all
close all
clc
x0=0;
y0=0;
l1=2;
l2=1;
theta1=linspace(0,120,15)
theta2=linspace(0,120,15)
ct=1;
for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta1)
         THETA2=theta2(j);
        
        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',5)
    axis([-2 5 0 5])
    pause(0.04)
    
     M(ct)=getframe(gcf);
     ct=ct+1;
 
    end
end


movie(M)
videofile=VideoWriter('Forward Kinematics of Robo arm using Matlab.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

Please post the video here