PLI Fig. 1: The two-dimensional revolute manipulator of problem I Problem 1 Robotic manipulators are found throughout manufacturing and assembly plants. A simple robotic manipulator is a 2-dimensional revolute-revolute joint manipulator with an "end-effector," essentially the gripper at the end of the second link. It consists of two links that are connected to each other with revolute (rotational) joints (see Fig. 1). This is a simpler version of the PUMA robot introduced in the homework. Property Value link length 1, 4 0.5 m link length 2, 12 0. 25 m angle between horizontal and link 1, Of sin(t) angle between link 1 and link 2, 02 cos(1) Table 1: Problem I Parameters Derive the kinematic equations for the position, velocity, and acceleration of the end effector and plot the following: 1. the position of the end effector as a function of time for 10s; 2. the velocity of the end effector as a function of time for 10s; and 3. the acceleration of the end effector as a function of time for 10s. Property Value link length 1, 0. 1 m link length 2, 12 0.05 m Table 2: Properties for slider-crank