Python program to simulate Forward Kinematics of a 2R Robotic arm

Objective: A two arm robot with lengths 1 unit and 0.5 units is pegged at one end to coordinates (0,0). The other end which is connected through a connecter is free to rotate across the x-y plane. x0 and y0 represent the end pegged to the origin. x1 and y1 represent the position of the connecter. x2 and y2 represent the position…