Forward Kinematics of a 2R robotic arm

Objective: %Input l1 = 1; l2 = 0.5; theta1 = linspace(0,90,10) theta2 = linspace(0,45,10) ct = 1; for i = 1:length(theta1) THETA1 = theta1(i) for j = 1:length(theta2) THETA2 = theta2(j) x0 = 0; y0 = 0; x1 = l1*cosd(THETA1); y1 = l1*sind(THETA1); x2 = x1 + l2*cosd(THETA2); y2 = y1+ l2*sind(THETA2); %Plotting plot ([x0 x1],[y0 y1],[x1…