(b) The figure below shows an image of a 2R robot including the link lengths and joints angles. Compute the coordinates of the end effector B. 422 4 = 1 Maynooth University 1= 2 (0,0); 0 = 3 4 B (c) Continuing with the example from part (b), if a union of spheres [6 method is used for collision detection with a sphere radius of 0.4, d = 1.8 Page 8 of 13 Autumn 202: would the end effector above be considered in collision with the rectangular obstacle shown to the right figure?