\(Clear[t, \ t1, \ t2]; 
l1\  = \ 1.0; 
l2\  = \ 1.0; 

    J[t_]\  := 
      \ {{\(-l1\)\ Sin[t1[t]]\  - \ l2\ Sin[t1[t]\  + \ t2[t]], \ 
          \(-l2\)\ Sin[t1[t]\  + \ t2[t]]}, {
          l1\ Cos[t1[t]]\  + \ l2\ Cos[t1[t]\  + \ t2[t]], \ 
          l2\ Cos[t1[t]\  + \ t2[t]]}}; 
xd\  = \ \(-1.0\); 
yd\  = \ 0.0; 
    
eqn[t_]\  := \ Inverse[J[t]]\  . \ {xd, \ yd}; 

    soln\  = \ 
      NDSolve[{\(t1'\)[t]\  == \ \(eqn[t]\)[\([1]\)], \ 
          \(t2'\)[t]\  == \ \(eqn[t]\)[\([2]\)], \ t1[0]\  == \ 0.0, \ 
          t2[0]\  == \ 0.01}, \ {t1, \ t2}, \ {t, \ 0, \ 3}]; 

    t1[t_]\  := \ \(Evaluate[t1 /. soln[\([1]\)]]\)[t]; 

    t2[t_]\  := \ \(Evaluate[t2 /. soln[\([1]\)]]\)[t]; 

    Plot[t1[t], \ {t, \ 0, \ 3}]; 
Plot[t2[t], \ {t, \ 0, \ 3}]; 

    Plot[Sqrt[\(t1'\)[t]^2\  + \ \(t2'\)[t]^2], \ {t, \ 0, \ 3}]; \)

\(Plot[\(Evaluate[t1\  /. soln[\([1]\)]]\)[t], \ {t, \ 0, \ 3}]; 

    Plot[\(Evaluate[t2\  /. soln[\([1]\)]]\)[t], \ {t, \ 0, \ 3}]; \)

\(g\  = \ {}; 
count\  = \ 1; 

    Do[
		t1\  = \ \(Evaluate[t1 /. soln[\([1]\)]]\)[t]; 
	
      t2\  = \ \(Evaluate[t2\  /. soln[\([1]\)]]\)[t]; 
	orig\  = \ {0, 0}; 
      
	p1\  = \ {Cos[t1], \ Sin[t1]}; 
	
      p2\  = \ {Cos[t1]\  + \ Cos[t1\  + \ t2], \ 
          Sin[t1]\ \  + \ Sin[t1\  + \ t2]}; 
	
      If[count\  >= \ 10, 
	
        g\  = \ Append[g, \ Graphics[Line[{orig, p1, p2}]]]; 
		
        count\  = \ 0]; 
	\(count++\), 
	{t, \ 0, \ 3, \ 0.01}]; \)

ShowAnimation[g,  PlotRange -> {{-2, 2}, {-2, 2}},  
      Axes -> True]