Simulation of a 2R Robotic arm

clc
clear all
close all

l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

frame=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);

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
axis([-0.1 2 0 2])
pause (0.03)
M(frame)=getframe(gcf);
frame=frame+1;
    end
end

movie(M)
videofile=VideoWriter('forward-kinematics.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

https://youtu.be/5CICDXEl4o8 Link to the animation file