forward kinematics of a robotic arm

% forward kinematics of a 2R - robotic arm
clear all
close all
clc

%inputs
l1 = 2;
l2 = 1;
theta1 = linspace(0,90,15);
theta2 = linspace(0,90,15);

%ct is a variable for storing each frame into "M" and then incrementing for
%next frame position in M
ct = 1;
%for loop for getting position of manipulator at different values of theta1
%& theta2
for i = 1:length(theta1)
    Theta1 = theta1(i);
    for j = 1:length(theta2)
        Theta2 = theta2(j);
    x0 = 0;
    y0 = 0;
    %x1 & x2 are equations to get postions of end of link 1 for various
    %theta1 values
    x1 = l1*cosd(Theta1);
    y1 = l1*sind(Theta1);
    
    %x2 & y2 are equations to get positions of end og link 2 for various
    %theta2 values
    x2 = x1+l2*cosd(Theta2);
    y2 = y1+l2*sind(Theta2);
    
    %function to plot the arms from the coordinates of link ends found from
    %equations.
    plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3)
    
    axis([-0.1 3.5 -0.1 3.5])
    pause(0.03)
    
    %storing each frame of graph plotted in M 
    M(ct) = getframe(gcf);
    ct = ct+1;
   
    end
    
end

%making a movie by using all the frames stored in M 
movie(M)
%saving it in an appropriate file format and naming the video file to access it easily
videofile = VideoWriter('forward_kinematics.avi','Uncompressed AVI')
open(videofile)
writeVideo(videofile,M)
close(videofile)

A youtube link to the animation video made is given below

https://youtu.be/swP6SNyriAU

This has a lot of applications in the industrial field to understand the workspace of the robotic arms, even the complex ones, and hence design accordingly.