I have created a function which calculates the 3 main torque components that contribute to the total torque profile of the actuated joints using Lagrangian formulation. Further detail of the problem is located in the RR2_ID.m file. The GUI then uses this function, and plots each of the components (inertial torque, coriolis torque, gravitational torque, total torque) versus time. The nominal parameters, such as the mass and length of each link, can be varied as well. The angular velocities of each joint can be varied between 3 settings; slow, medium and fast. Make sure all files( .fig, .m, .png) are io the same directory. The GUI code needs the image file (.png) to display an image within the GUI figure.