Simulation of a 2R robotic arm manipulator using Python

Objective: Aim: Create a program in python to simulate the forward kinematics of a 2R Robotic Arm. import math import matplotlib.pyplot as plotit # Inputs ct=1 l1=1 l2=0.5 n_t=10 t_start=0 t_end=math.pi/2 t1=[] t2=[] for i in range(0,n_t): t1.append(t_start+i*(t_end-t_start)/(n_t-1)) t2.append(t_start+i*(t_end-t_start)/(n_t-1))…