Conside the Two-Link Planar Manipulator shown in the figure below along with its DH convention table and Forward Kinematic solution. Using the Forward Kinematic solution, derive the Jacobian J, the vector and use them to determine , the body velocity vector. Be careful identifying the joint variables q. yo y2 4X2 02 X1 02 7 a1 . link a 1 a d .0 a 0 00 2 a2 0 0 0 [co =s 0 ac | se CO 0 ase A = 0 0 1 0 0 001 Name A = [co so 0 aco s, c, 0 as, 0 0 1 0 0 0 0 1 C 0 ac S 1 0 as $2 C 0 a$2 0 acsasc T 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1