The programme of 2R robotic arm

%Forward Kinematics of a 2R robotic arm
clear all
close all
clc

%Inputs

l1 = 1;
l2 = 0.5;
theta1 = linspace(0,90,6);
theta2 = linspace(0,90,6);


   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\',2)
            axis([0.1 1.5 0 1.5])
            pause(1)
            M(ct)=getframe(gcf)
            ct=ct+1;
                                  
          
         end
   end

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

OUTPUT:-




theta1 =

    45


theta2 =

    30


x0 =

     0


y0 =

     0


x1 =

    0.7071


y1 =

    0.7071


x2 =

    1.1401


y2 =

    0.9571