The left two-link planar robot is attempting to transfer a small object labeled P to the similar right robot. At the posture indicated, θ2 =45◦ and θ3/2 =

−15◦. (Note that θ3/2 = θ3 −θ2 is given, since that is the angle controlled by the motor in joint A.)

Determine θ4 and θ5/4 to allow the right robot to take possession of object P.

u2 u4 u5/4 u3/2 Figure P5.7 RO4O2 = 1 m, RAO2 = RBO4 = 0.3 m, and RPA = RPB = 0.4 m.