forward kinematics of a 2R robotic arm

%forward kinematics of a 2R robotic arm

clear all
close all
clc
 
%inputs
l1=2;
l2=1;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

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);

%plot

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],\'linewidth\',3)
axis([0 5 0 3])
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)

https://youtu.be/jFyRpixtnX8