Forward kinematics of a 2R Robotic Arm

%forward mechanics of 2R arm maniplitor with animation

clear all
close all
clc

%inputs
l1 = 2.5;
l2 = 1.5;

theta1 = linspace(0,90,15);
theta2 = linspace(0,90,15);

count=1;
for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta2)
        THETA2=theta2(j);
        
%cordinates
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\',3)

axis([-0.1 4 0 4])
pause(0.03)
l(count) = getframe(gcf);
count=count+1;
    end
end

movie(l)
videofile = VideoWriter(\'forward_kinematics.avi\',\'Uncompressed AVI\');
open(videofile);
writeVideo(videofile,l)
close(videofile)