Forward Kinematics of a 2R Robotic Arm in Python

Objective: Objective: The project involves simulating a 2-joint robotic arm. Code and Description: import math import matplotlib.pyplot as plt import numpy as nm # Lengths l1 = 1 l2 = 0.5 # Angles ang1 = nm.radians(nm.linspace(0, 90, 19)) ang2 = nm.radians(nm.linspace(0, 90, 19)) # Origin x0 = 0 y0 = 0 count = 1 for a1 in…