Simulation of forward kinematics of a 2R Robotic Arm

Objective: Aim: To write a program to simulate the forward kinematics of a 2R Robotic Arm. Inputs: 1, lengths of the arms (l1, l2); 2, Angles of their movement (THETA1, THETA2); (theta1, theta2 being arrays of THETA1 and THETA2 resp.) 3, Co-ordinates (x0,y0), (x1,y1) and (x2,y2) of the link 1&2. Assumptions:…