forward kinematics of 2R robotic arm using python

Objective: import math import matplotlib.pyplot as plt #inputs l1 = 1 #length of link 1 l2 = 0.5 #length of link 2 #origin x0 = 0 y0 = 0 n_theta = 10 #number of values of angle #extreme values of angle theta_start = 0 theta_end = math.pi/2 theta1 = [] theta2 = [] #creating range of angles for both links for i in range(0,n_theta):…