2R Robotic Arm

Objective: # Program Forward kinematics of 2R Robotic Arm #By Rajeeh Rasheed import math import matplotlib.pyplot as plt #Inputs l1 = 1 l2 = 0.5 theta1 = math.pi/4 theta2 = math.pi/2 # Base of the robot x0 = 0 y0 = 0 # Link 1, Link 2 connector x1 = l1*math.cos(theta1) y1 = l1*math.sin(theta1) # Coordinates of the manipulator x2 =…