2-link manipulator simulation using tk, matplotlib, and IoT

Enhance visualization in robotic study by simulating 2-link manipulator in cartesian space. Data is sent from Wokwi platform via an MQTT broker, NETPIE, in this example. Robot configurations are then plotted using forward kinematics computation from the joint angles. Inverse kinematics can be more tricky since solutions may fall into one of 3 cases: none, unique, or multiple. Above all, this basic learning tool is not difficult to create without spending a dime.