MATLAB

Modify the above program to calculate (x,y) positions of the tips of link1 (P1), link2 (P2), and link3 (P3) using equations shown below:

Plot xy trajectories of P1, P2, and P3 in a single plot noting

Use 20 data points for each joint rotation. For example for theta_1, use h1=linspace(0,180,20)

Your user define m-file function can be called by [x1,y1,x2,y2,x3,y3]=forward_kin3(th1,th2,th3);

Add appropriate label X(m) and Y(m) for each axis

Add title of Tip trajectories of 3 link robot

Use a range of plot: axis([04 -1 3]);

Use different marker (o for link1, s for link2, ^ for link3) for each plot and connect them as dashed lines.

Add legend link1tip,link2tip,link3tip. (You can use link_(tip) for link_tip)

PUBUISH New Open Save Breaepoins Ruan Ran and Advance Run and Advance 1function [x,y,alpha]-forward kin (thl, th2, th3) % Forward kinematics of three revolute joint robot. 2 3 % Input: Joint angles th1, th2, and th3 in degrees 5-global L1 L2 L3 % link length is declared global 7y-Ll*sind (thl) +L2*sind (thl+th2) +L3*sind (thl+th2+th3) % Output: robot hand position (x,y) and orientationalpha alpha-th1+th2+th3 PUBUISH New Open Save Breaepoins Ruan Ran and Advance Run and Advance 1function [x,y,alpha]-forward kin (thl, th2, th3) % Forward kinematics of three revolute joint robot. 2 3 % Input: Joint angles th1, th2, and th3 in degrees 5-global L1 L2 L3 % link length is declared global 7y-Ll*sind (thl) +L2*sind (thl+th2) +L3*sind (thl+th2+th3) % Output: robot hand position (x,y) and orientationalpha alpha-th1+th2+th3