Robatic arm simulation using python

Forward kinematic robatic arm youtube link

import math
import matplotlib.pyplot as plt 

#inputs
l1=1
l2=0.5

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)

x0= 0
y0 = 0

ct=1
for t1 in theta1:
	for t2 in theta2:
		x1 = l1*math.cos(t1)
		y1=  l1*math.sin(t1)

		x2= x1+l2*math.cos(t2)
		y2 = y1+l2*math.sin(t2)

		filename = str(ct) + '.png'
		ct=ct+1
		


		
		plt.figure()
		plt.plot([x0,x1],[y0,y1])
		plt.plot([x1,x2],[y1,y2])
		plt.xlim([0,2])
		plt.ylim([0,2])
		plt.savefig(filename)

Result :

• The link of length o.5m attached with the another link of length 1m , acts as a robotic arm movement.
• The angles are varied accordingly at the joints of both the links.
• The angle made by each of the link at the joints are represented and simulated using python.
• The video was made using the gifs, and the video was posted on to the youtube.
• The youtube link was provided.