Forward kinematics of a 2R robotic arm manipulator

Objective: clear all close all clc % INPUTS l1=1; l2=0.5; theta1=linspace(0,90,7); theta2=linspace(0,90,7); % COORDINATES no_of_frames=1; for i = 1:length(theta1) %length= number of values in theta1 T1 = theta1(i); for j = 1:length(theta2); %length = number of values in theta2 T2 = theta2(j); x0 = 0; y0 = 0; x1 = l1*cosd(T1); y1…