Simulation of a 2R robotic arm

Objective: %forward Kinematics animation animation of a 2r robotics arm clear all; close all; clc; %inputs l1=1; l2=0.5; theta1 = linspace (0,90,4); theta2 = linspace (0,90,4); ct=1; for i=1:length(theta1) THETA1= theta1(i); for j=1:length(theta2) THETA2 =theta2(j); %coordinates x0 = 0; y0 = 0; x1 = l1*cosd(THETA1); y1 = l1*sind(THETA1);…