Matlab program to simulate the forward kinematics of a 2R Robotic Arm

Objective: Below is a program to simulate the forward kinematics of a 2R Robotic Arm l1 and l2 represents two arms of the robot. One end of l1 is pegged at origin and both the arms are allowed a rotation of 90 degrees with an interval of 10 degrees each. The link to simulation video is as follows: https://drive.google.com/file/d/1Ly-c42bq-9B2KfH6i036B9Hd90KD_ejC/view?usp=sharing…