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\fQuestion 3 : Simulation For the two link manipulator seen in the earlier homework, use different forms of inverse-kinematics- based planning to move between two fixed end-points, from the end effector point of (1,0) to (0,2) within 3 seconds assuming that the links are each 1m. The robot starts and stops from rest. a. Construct a straight-line trajectory and divide it into N=50 points. Use inverse kine- matics for each of the points. Plot the trajectory velocity profiles b. Similar to question 1, interpolate the joint trajectory using a 3rd-order polynomial, calculate the end-effector positions (N = 50 steps) for each of the joint angles and, animate the motion. Plot the trajectory velocity profiles