Problem Description: You are to conceptually design and simulate a small $2$DOF

robot arm to draw a trajectory with a laser $($as its end$-$effector$)$ on a $2$D Cartesian plane.

You do not need to construct this robot.

$$ You must choose the motors, parts, materials, and sensors required for the robot arm.

Justify your choices using calculations and other knowledge. State your assumptions

about the use and determine the required specifications of the robot arm.

$$ The assignment is to be completed individually.

$$ Trajectories will consist of straight lines in a $2$D Cartesian coordinated system. An origin

will be given, and $4$ other points $($that will be unknown to you$)$ in the chessboard size

$20$x$20$ grid that has $30$x$30$mm squares. You will need to formulate simulated code $($via

Matlab or similar$)$ to best demonstrate$/$show the calculated trajectories equations,

inverse kinematics equations, as well as the control code that will send commands to

the robot motors to control the arm.

$$ Be sure to design the robot arm to be able to reach all the positions in the chessboard

pattern. Prove this through calculations.

$$ The arm must sit at an origin and will occupy a grid of $3$x$3$ in one of the chessboard

corners.

$$ Use PID control for your motors; can remove this control in your code when simulated.

$$ When$/$if required, assume the use of an Arduino microcontroller that will be used to

control the Robot Arm.

$$ Details$/$variables of the Robot Arm should be stated; you must state all the details you

need from the system especially those that are utilised in your calculations or code.

$$ Upload a $3-5$min video of your simulated robot arm to youtube.com and provide a

link in your report. Be sure to make your link accessible $($public or unlisted$).$

$$ Write a detailed report and upload to studydesk. Must contain the following aspects

$($not in any order$)$ below $($also be sure to check the marking criteria for any other

aspects that will be marked$)$:

$1.$ Your pseudocode in detail. Do not try and oversimplify this. I.e$.,$ a pseudocode

line stating $$PID control of motors$.$ We need to see the detailed pseudocode on

the PID control loop itself, sending of its commands via some form of