Fig shows a robot arm with two degrees of freedom, where the link lengths are L1=0.6m, L2=0.3m. The motion ranges for link 1 and link 2 are as follows -45 0, 45,0 0 90. A. Plot the work space of the tip point P; B. If joint 1 is driven by a motor with a resolution of 0.1 degree, whereas joint 2 is driven by a motor with a resolution of 0.02 degree. What is the horizontal positioning precision at tip P? At what configuration does the robot have its smallest vertical positioning error at P? Y L1 L2 Fig. 2 X