Board s s L L2 02 {s} Board 2 3 {s} Consider an RPR manipulator in its zero-configuration, as shown above on the left, with L1 = 3 and L2 = 2. This robot has a marker attached at the end-effector, which can draw on the board defined by the x-y plane. You are tasked to control the robot to draw a straight vertical line from (2, 3) to (2,0) within 3 seconds. Assume that the end effector of the robot is initially located at (2, 3) and moves downward to draw the straight line. Then, the trajectory of the end-effector position in the Cartesian coordinate can be defined as xa(t): = [x] = [32] where 0 t 3 [sec] 13 - 1. [15pt] Generate the desired positional trajectory (Ba) in the joint space numerically using the Newton-Raphson method. Plot the joint trajectories in a single graph, with the time t on the x-axis and 0 (t) and 02(t) on the y-axis. Save this as Figure 1. Plot the calculated end-effector trajectory given calculated 0 (t) and 02(t). Save this as Figure 2. *If your inverse kinematics is correct, this should be a straight vertical line from (2, 3) to (2, 0). For each figure, use different colors or line types for individual variables and provide a legend. Use h = 0.1 [sec] for the time step size and the desired error, ed = 0.001. For the Newton-Raphson method, use the initial guess (0) = []; and for all following data point, use the previously calculated & values as the initial guess for the next approximation, such that (t;) = 0 (ti-1)", where (ti-1)" is the final approximation at the previous time step.