Forward kinematics of Robotic arm using Matlab

Objective: clear allclose allclc%inputs/variables l1= 2; %lenght of link 1l2= 1; %length of link 2theta1= linspace(0,90,20); %positioning of link 1theta2= linspace(0,90,20); %positioning of link 2ctr=1; %looping counter variable%looping the angle/ varying the position of linksfor i= 1:length(theta1) THETA1= theta1(i);for j= 1:length(theta2)…