Week 2- 2R Robotic Arm Challenge

My youtube animation link

https://youtu.be/3QTw0yW7UN4

 %Forward kinematics of a 2R robotic arm manipulator
clear all
close all
clc

%inputs
%length of link1= L1, link2= L2
L1=2;
L2=1;

%Angle made by the links with respect to x-axis
%I am considering 180 degrees motion for each link
theta1=linspace(0,180,10);
theta2=linspace(0,180,10);

%Co-ordinates (x0,y0), (x1,y1), (x2,y2)

ct = 1;
for i = 1:length(theta1)
THETA1 = theta1(i);
for j = 1:length(theta2)
THETA2 = theta2(j);
x0 = 0;
y0 = 0;

x1 = x0 + L1*cosd(THETA1);
y1 = y0 + L1*sind(THETA1);

y2 = y1 + (L2*sind(THETA2));

x2 = x1 + (L2*cosd(THETA2));
%Plotting the positioning of the robotic arm

plot([x0,x1],[y0,y1],[x1,x2],[y1,y2],'linewidth',3)
axis([-3 3 0 3.5]) %Changing the axis limits
title('Simulation of 2R robotic arm')
pause(0.1)
M(ct) = getframe(gcf);
ct = ct+1;

end
end
%creating the video animation
movie(M)
videofile = VideoWriter('Forward_kinematics.avi','Uncompressed AVI');
open(videofile)
writeVideo(videofile,M)
close(videofile)