Use Python to solve the following problem:

4. Consider the 2-link robot arm in Figure 1 with link of length L fixed at the origin and connected to the second link of length L2. The first link makes and angle ? with the horizontal and the second link is rotated an angle ? from the direction of the first link. The link angles ? and ? are controlled by servo motors, and this case study will determine how to adjust the angles to achieve motion of the robot end effector (x2.y2) from the starting position (xo,yo) to the final position (x y) along a straight line. The motion will be simulated in Python and displayed on the screern. (x2V2) (Vo) (xi.yi) (0.0) Figure 1: Geometric representation of a two-link robotic arm. This problem will be specified by fixing values for L1 and L2, initial arm angles ? and ? and the desired final position of point f, such as those found in Table l Table 1: Sample given values for simulating robot arm motion. Li | L2 | Initial ? | Initial 4 2 20 80 Create the following functions in Python and use them to draw the robot arm with values in Table 1 The function get Point 1 accepts Li and and returns the x1J1 point as in Equation 1 The function get Point2 accepts L1, L2. and and returns the X2J2 point as in Equation 2 by first using the previous function to find point xiyi The function drawArm accepts Ll , L2. robot arm links on the screen and the desired path. This function should call the previous two in order to locate points 1 and 2. . . . points 0 and f, and returns nothing other than drawing the two