Program to solve the Forward Kinematics of a 2 R Robotic Arm

Objective: The plot of the motion OUTPUT:- theta1 = 45 theta2 = 30 x0 = 0 y0 = 0 x1 = 0.7071 y1 = 0.7071 x2 = 1.1401 y2 = 0.9571 %Forward Kinematics of a 2R robotic arm clear all close all clc %Inputs l1 = 1; l2 = 0.5; theta1 = linspace(0,90,6); theta2 = linspace(0,90,6); ct=1; for i=1:length(theta1) Theta1=theta1(i); for j=1:length(theta2)…