forward mechanics for 2R arm maniplitor with animation

Objective: %forward mechanics of 2R arm maniplitor with animation clear all close all clc %inputs l1 = 2; l2 = 1.5; theta1 = linspace(0,90,12); theta2 = linspace(0,90,12); count=1; for i=1:length(theta1) THETA1=theta1(i); for j=1:length(theta2) THETA2=theta2(j); %cordinates x0 = 0; y0 = 0; x1 = l1*cosd(THETA1); y1 = l1*sind(THETA1);…