forward kinematics of a 2R Robotic Arm

Objective: %sample close allclear allclc % inputsl1=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=l1+l2*cosd(THETA2);y2=l1+l2*sind(THETA2); % plotting plot([x0 x1],[y0 y1],[x1 x2],[y1…