forward kinematics of a 2R Robotic Arm

  %forward kinematics for 2d robotic arm manipulation
   close all
   clear all
   clc
    %inputs 
    l1=1;
    l2=0.5;
    theta1=linspace(0,90,4);
    theta2=linspace(0,90,4);
    ct=1;
    for i=1:length(theta1);
        THETA1=theta1(i);
      for j=1:length(theta2);
      THETA2=theta2(j);
      
    
    %coordinates
    x0=0;
    y0=0;
    
   x1=l1*cosd(THETA1);
   y1=l1*sind(THETA1);
   
   x2=x1+l2*cosd(THETA2);
   y2=y1+l2*sind(THETA2);
   
  %plotting
  hold on
  plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3)
  axis([-0.1 1.5 0 1.5])
  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)