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

Objective: %input l1=1; l2=0.5; theta1 = linspace(0,90,10); theta2 = linspace(0,90,10); 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 + l2*sind(THETA2); %Plotting plot([x0 x1],[y0 y1],[x1…