Below is the two$-$link $($RR$)$ robot as shown in the figure

Use the matlab robotics toolbox or download from peterchoke website.

The DH table is as below

the $\backslash (\backslash$mathrm$\{$D$\}-\backslash$mathrm$\{$H$\}\backslash )$ parameter table for the given robot is as follows:

$1.$ Based on the link table derived in step $1,$ create a simulated two$-$link robot using the necessary functions provided by the robotics toolbox.

$2.$ Plot the robot in $3-$D coordinate system. The initial joint positions of the robot are set to all zero.

$3.$ Prompt the user to either enter a new Cartesian position or exit from the program. If the user decides to exit the program, terminate the program. If not, continue on the following steps.

$4.$ Implement the inverse kinematics to calculate the corresponding joint angles for the new position. Only one type of configuration $($elbow up or elbow down$)$ needs to be considered. Choose the one you prefer.

$5.$ Generate a LSPB trajectory $($a set of points$)$ starting from the current joint angles to the new joint angles $($calculated in step $5).$ The starting and ending velocities are all zero. Determine the reasonable speed and the total time the robot need to travel for the best animated movement of the robot arm.

$6.$ Move the robot to the desired location by following the trajectory generated in step $6.$

$7.$ Go back to step $4.$