Two versions of a time optimized 3-jointed robot arm simulation in 2D are available in this repository:
basic_arm.py and RobotArm_matplotlib.py

Both files:
-use inverse kinematics to solve for the robot joint angles to reach the object and then the final goal/target
-use matplotlib to plot the trajectory of a 3 jointed robot arm from the starting point (initial_angles)
 to the object location and finally to the goal location.
-prompt the user to input the starting and end location for the object in the command line
-keep track of the time the robot arm takes to move (timestamps in final gif)
-saves the trajectory to a gif in the folder with the script

basic_arm.py (version 1)
    This file provides the first solution from inverse kinematics and saves this to a gif with a name specified by the user. The range
    is 0-3 for x and y.
    
RobotArm_matplotlib (version 2)
    -This file provides all the possible solutions from inverse kinematics and saves the fastest solution as a gif.
    -The command line updates with the configuration number the script is currently saving a gif to, because some locations
     have many solutions and the script can take a long time to write all the solutions to gifs.
    -After saving the fastest gif, the script prints to the console, which configuration number takes the shortest amount of time
     along with the phi and signma values used to reach the object and the goal/target

Note- there are still some positions which do not resolve. We also realize that this may not find the absolute optimum fastest path,
but it should definitely be faster than random movement.