Forward Kinematics of a Robotic arm

Objective: %Forward kinematics of a 2R robotic arm clear allclose allclc %length of the links l1 =1; l2 =0.5; theta1 = linspace(0,90,10); theta2 = linspace(0,90,10); i=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);plot([x0…