Forward kinematics of a 2R robotic arm

l1=1;
l2=0.5;
theta1 = linspace(0,90,40);
theta2 = linspace(0,90,40);

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);
    
    
    
    plot([x0 x1], [y0 y1], [x1 x2], [y1 y2], \'linewidth\',3)
    axis([-0.1 1.5 0 1.5])
    pause (0.03)
    
   end
end

file_text = sprintf(\"robo_arm.png\",10)
    M(ct) = saveas(gca,file_text);
    ct = ct+1;