Example shows the forward kinematics of Universal Robots' UR5 6R robot arm. Fixed parameters are given as follows: W = 109mm, W = 82mm, L = 425mm, L = 392mm, H = 89mm, and H = 95mm. W 9b SA 2b S LA L S a) Write a MATLAB function that takes inputs of all joint variables (0,...,06) and returns the end-effector configuration (i.e., the composite transformation matrix from the base to the end-effector frame), using the product of exponentials formula. Save this function as "A4-LastnameFirstNamelnitial.m" (e.g., Leek.m) b) Plot the trajectory of the end effector as while 0 8 < 2, where the rest of the joints are fixed at 8,03 = 04 = 0,05 = =,06 = 0.