GENERATE USING MATLAB

(3) Finally, returning to the 2-link planar manipulator of Problem 1, we will explore the utility of the Jacobian in this highly simplified context a. Write a function that uses the Jacobian of a 2-link planar manipulator to relate endpoint forces to joint torques (use the header below as a guide). Call your function fijacobian Assume the same link lengths as Problem 1, and a mechanism configuration of q-. Use the attached file FxFy.mat, which contains the variable FxFy, as an input to your function. FxFy is a [2x5,000] matrix of data, with FxFy(1,:)-endpoint forces in the x-direction, and FxFy(2,:) - endpoint forces in the y-direction. Plot your resulting shoulder and elbow torque as a function of time, each as a subplot. Assume that each value in FxFy corresponds to a point in time during isometric contraction, sampled at 1000 Hz. Thus, adjacent points in FxFy are 0.001 sec apart, and the total trial length is 5 sec. Use this information to plot your results b. After plotting your results, assume that the manipulator represents a human arm. Write on your plot what contraction the person is primarily performing based on vour results. function torque ftjacobian(q, Forces) % Jacobian for 2-link planar manipulator % q: [ 1 x21 vector of relative joint angles % Forces: 2xn] matrix of endpoint forces in x- and y- directions, respectively % torque : [2xm matrix of shoulder and elbow torques, respectively (3) Finally, returning to the 2-link planar manipulator of Problem 1, we will explore the utility of the Jacobian in this highly simplified context a. Write a function that uses the Jacobian of a 2-link planar manipulator to relate endpoint forces to joint torques (use the header below as a guide). Call your function fijacobian Assume the same link lengths as Problem 1, and a mechanism configuration of q-. Use the attached file FxFy.mat, which contains the variable FxFy, as an input to your function. FxFy is a [2x5,000] matrix of data, with FxFy(1,:)-endpoint forces in the x-direction, and FxFy(2,:) - endpoint forces in the y-direction. Plot your resulting shoulder and elbow torque as a function of time, each as a subplot. Assume that each value in FxFy corresponds to a point in time during isometric contraction, sampled at 1000 Hz. Thus, adjacent points in FxFy are 0.001 sec apart, and the total trial length is 5 sec. Use this information to plot your results b. After plotting your results, assume that the manipulator represents a human arm. Write on your plot what contraction the person is primarily performing based on vour results. function torque ftjacobian(q, Forces) % Jacobian for 2-link planar manipulator % q: [ 1 x21 vector of relative joint angles % Forces: 2xn] matrix of endpoint forces in x- and y- directions, respectively % torque : [2xm matrix of shoulder and elbow torques, respectively