1. Calculate the controller gains for the independent joint controllers for joints I-3 (using the parameters given in Table 1). Using the calculated gains to design the feedback controllers for the PUMA and implement the controllers in Simulink model provided 2. Develop and incorporate a joint space trajectory planner into the controller developed in Step 1. The planner should accept user specified initial and final joint positions, and joint speeds ( as percentages of their maximum valies). The final demonstrations of the completed projects are to be held during tutorials in Werk II. A group report is to be submitted by each group by no later than 24:4, " Mar 141 The group report should contain at least the following aspects . Aim of the project. . Methodologies, detailed equations and calculations used in designing the controllers and injectory planner. . MATLAB Simulink programs used in the project. . Plots outputs that demonstrate the effectiveness of the controller planner - with discus- Conclusions The final writen report should be no more than 15 A4 pages (inclusive of MATLABo 2/4 excluding coversheet and table of contents). The fonts used should not be smaller this Times New Roman with margin of no less than Jom on all sides, Marking criteria of the report can be found in the unit Learning Guide