NEED HELP BADLY ANY HELP IS GREATLY APPRECIATED THANK YOU, ALL CODING DONE IN MATLAB

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y, = 11 sin(%) + 128in (6, + ?2) 82 Li L cos(e,) L sin(e,) (0,0) Figure 1: Two-Link Robot Arm Assume the initial base angle (e1) is 30, the initial joint angle (02) is 20, Link 1 is 5ft long and Link 2 is 4ft long. The gripper coordinates at the end of Link 2 will then be xg = 6.9 ft. and yg = 5.56 ft. We wish to move the robot are along a smooth path to a new set of gripper coordinates (xg-2 ft. and yg 4 ft). The following polynomial equations for base angle and joint angle will move the gripper to the desired position. ase ec 01 (deg): ThB 30-9.684 x 104 t5 0.02421 t4- 0.1614-t3 62 (deg): Thj-20 +6.1002 x 103 t5- 0.152505 t* 1.0167 t3 Assuming the robot follows the desired trajectories, the corresponding angular velocities would simply be the derivative of the angle trajectories Base Vel. : VelB = -5 . 9.684 10-4 . t4 + 4 0.02421 . t3-3 0.1614 . t2 Joint Vel.: Vel 5 x 6 .1002 103 t4-4 x 0.152505.t33 x1.0167 t2 y, = 11 sin(%) + 128in (6, + ?2) 82 Li L cos(e,) L sin(e,) (0,0) Figure 1: Two-Link Robot Arm Assume the initial base angle (e1) is 30, the initial joint angle (02) is 20, Link 1 is 5ft long and Link 2 is 4ft long. The gripper coordinates at the end of Link 2 will then be xg = 6.9 ft. and yg = 5.56 ft. We wish to move the robot are along a smooth path to a new set of gripper coordinates (xg-2 ft. and yg 4 ft). The following polynomial equations for base angle and joint angle will move the gripper to the desired position. ase ec 01 (deg): ThB 30-9.684 x 104 t5 0.02421 t4- 0.1614-t3 62 (deg): Thj-20 +6.1002 x 103 t5- 0.152505 t* 1.0167 t3 Assuming the robot follows the desired trajectories, the corresponding angular velocities would simply be the derivative of the angle trajectories Base Vel. : VelB = -5 . 9.684 10-4 . t4 + 4 0.02421 . t3-3 0.1614 . t2 Joint Vel.: Vel 5 x 6 .1002 103 t4-4 x 0.152505.t33 x1.0167 t2