Robotic arm

%animation

clear all
close all
clc

%input
l1=1;
l2=0.5;
theta1=linspace(0,90,40);
theta2=linspace(0,90,40);
ct=1;
for i=1:length(theta1)
     THETA1=theta1(i)
     for j=1:length(theta2)
         THETA2=theta2(j)

xo=0;
yo=0;

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

x2=x1+l2*cosd(THETA2);
y2=y1+l2*sind(THETA2);

%plotting

plot([xo x1],[yo y1],[x1 x2],[y1 y2],\'linewidth\',3)
axis([0 2 0 2]);
pause(0.03)
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)