forward kinematics of a robotic arm

clear all
close all
clc

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);

        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([-0.2 2.5 0 2.5])
        pause(0.15)
        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)