Motion of a 2R Robotic arm in freespace

Objective: %Forward Kinematics of 2link Robotic Arm clear allclose allclc %variablesl1 = 3;l2 = 2; theta1=linspace(0,90,30);theta2=linspace(0,90,30); ct=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…