For the two-link manipulator shown in Fig. 4: a) Generate a joint space trajectory 9d (t), 92.d (t), connecting the initial and final joint positions. (The subscript d stands for desired). Use a linear function with parabolic blends, assuming that the velocity at the start and end of the path is zero. Assume that the duration of the motion is t = 2.0 sec and that of the acceleration (and deceleration) is t = 0.5 sec. b) Produce the path of the end-effector in the Cartesian space, by generating its position at 0, 0.5, 1.0, 1.5, and 2.0 sec. Aso, produce the path in the joint space. y =1 : 60 = =-120 21 1=1 Initial Position X Fig. 4 y 22 -60 Final Position X