Week 2- 2R Robotic Arm Challenge

%forward kinematics of a 2R robotic are manipulator
close all
l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);
ct=1;
for i=1:length(theta1)
    THETA1=theta1(i);
for j=1:length(theta2);
    THETA2=theta2(j);
%inputs of initial coordinates
    x0=0;
    y0=0;
%finding x1 & y1
x1=l1*cosd(THETA1);
y1=l1*sind(THETA1);
%finding x2 & y2
x2=x1+l2*cosd(THETA2);
y2=y1+l2*sind(THETA2);
plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',3);
axis([-0.1 1.5 0 1.5])
pause(0.4)
ct=ct+1;

end
end