Python Program to simulate the forward kinematics of a 2R Robotic Arm

Objective: #Program to to simulate the forward kinematics of a 2R Robotic Arm #by Tarun Gupta import matplotlib.pyplot as plt import math #inputs l1= 3 l2= 1.5 n_theta=10 theta_start= 0 theta_end= math.pi/2 theta1=[] theta2=[] for i in range(0,n_theta): tmp=theta_start+i*(theta_end-theta_start)/(n_theta-1) theta1.append(tmp) theta2.append(tmp)…