forward kinematics of a 2R Robotic Arm

Objective: %forward kinematics for 2d robotic arm manipulation close all clear 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); x2=x1+l2*cosd(THETA2);…