Challenge question: Write a function that evaluates the geometry of a 2-link planar robot arm and plot it. (Don't bother trying to plot the gripper!) The geometry is shown below.

Your function should take 4 inputs; the two joint angles theta1 and theta2 and the two link lengths l₁ and l₂. The function should return a 12 matrix containing the x and y position of the end point of the second link.

To achieve this, you will need to calculate the start and end points of each of the links. You can assume the base is positioned at [0, 0].

Once you have the start and end points of the links calculated, plot them. Note that the plot() function requires the x and y data points as two separate arrays, not as x-y pairs.

What position (to 2 decimal places) do you get for the end point of the second link with the parameters? (e.g. use the format [2.34,4.56]up to 2 decimal places).

theta1 = pi/8

theta2 = pi/4

l1 = 4

l2 = 2

2 1 1 Jy