Simulate robot arm using python

import math
import matplotlib.pyplot as plt

l1 = 0.8
l2 = 0.5

n_theta = 10 # No of divisions
theta_start = 0 # Starting angle
theta_end = math.pi/2 # Ending angle
theta1 = []
theta2 = []

for i in range(0,n_theta):
   theta1.append(theta_start+ (theta_end-theta_start)*i/(n_theta-1)) # Angles of link 1
   theta2.append(theta_start+ (theta_end-theta_start)*i/(n_theta-1)) # Angles of link 2

# Base posotion 
x0 = 0 # Base position
y0 = 0 # Base position
ct = 1 # Counter

# Link 1 end point
for t1 in theta1:
	
	x1 = l1*math.cos(t1) # End of link 1
	y1 = l1*math.sin(t1) # End of link 1
	for t2 in theta2:
		
		x2 = x1+l2*math.cos(t2) # End of link 2
		y2 = y1+l2*math.sin(t2) # End of link 2

		filename = str(ct) + '.png'
		ct = ct+1
		plt.figure()
		plt.plot([x0,x1],[y0,y1])
		plt.plot([x1,x2],[y1,y2])
		plt.xlim([-1,2])
		plt.ylim([-1,2])
		plt.savefig(filename)

Source: skill-lync.com

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