2d animation

i am trying to create 2d animation of robotic arm this are my codes so far x=0; y=0; t1=0; t=(0:0.01:2); tf=2; x1= L1*cos(theta1); y1= L1*sin(theta1); theta1 =a1*t.^3+a2*t.^4+a3*t.^5; theta2 =b1*t.^3+b2*t.^4+b3*t.^5; z= mldivide (theta1,theta2); x2= L1*cos(theta1)+L2*cos(theta1+theta2); y2= L1*sin(theta1)+L2*sin(theta1+theta2);

i dont know what next. please help. thanks