MATLAB: Forward kinematics of 2R robot arm

Objective: A program to understand the forward kinematics of a 2R robot arm. The kinematics of linkage is first understood and positions are calculated of the two arms of the robot. Program: % Forward Kinematics of 2R robotic arm manipulator clear all close all clc %Inputs l1 = 2; l2 = 1.5; theta1 = linspace(0,90,10); theta2…