the forward kinematics of a 2R Robotic Arm

The forward kinematics of a 2R Robotic Arm

x1=0;

y1=0;

x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);

x2=x1+l2*cosd(THETA2);
y2=y1+l2*sind(THETA2);

%robotic arm manipultor 2R
clear all
close all
clc
x0=0;
y0=0;
l1=2;
l2=1;
theta1=linspace(0,90,100)
theta2=linspace(0,90,100)
ct=1;
for i=1:length(theta1)
    THETA1=theta1(i);
    for j=1:length(theta1)
         THETA2=theta2(j);
        
        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])
 
    %plotting
    plot([x0 x1],[y0 y1],[x1 x2],[y1 y2])
    axis([0 3 0 3])
    pause(0.03)
    ct=ct+1;
    
    m(ct)=getframe(gcf);

 
    end
end


movie(m)
videofile=videowriter(\'forward_kinematics.avi\',\'uncompressed.avi\')
open(videofile)
writevideo(videofile,m)
close(videofile)