Forward kinematics of a 2R robotic arm

Objective: clear all close all clc %inputs l1=1; l2=0.5; th1=linspace(0,90,10); th2=linspace(0,90,10); ct=1; for i=1:length(th1) TH1=th1(i); for j=1:length(th2) TH2=th2(j); x0=0; y0=0; x1=l1*cosd(TH1); y1=l1*sind(TH1); x2=x1+l2*cosd(TH2); y2=y1+l2*sind(TH2); plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3) axis([-0.1…