forward kinematics of a 2r robotic arm

Objective: l1=1;l2=2;theta1=linspace(0,90,40);theta2=linspace(0,120,40);for i=1:length(theta1);THETA1=theta1(i);for j=1:length(theta2);THETA2=theta2(j);x0=0y0=0x1=l1*cosd(THETA1);y1=l1*sind(THETA1);x2=x1+l2*cosd(THETA2);y2=y1+l2*sind(THETA2); plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3); pause(0.1);axis([-0.1 5 -0.1 5])…