Suppose to have the three joints robot shown in the picture. Find the coordinates X and Y of the robot hand (TCP: Tool Centre Point) for given values of the joints q1, q2, q3. This problem is known in robotics as 'Forward kinematics'. 0 91 92 93 TCP X See for example robot-control-forward-transformation-matrices/ or Forward kinematics Requirements for passing the subject, try to answer the following questions (when applicable). Give an explanation of linear and affine transformations and how they relate to the problem. Explain how a translation in 2 dimensions (an affine transformation) can be rep- resented using a linear transformation (a matrix) in 3 dimensions and why this is relevant to the problem. Use the matrix formulation of the problem to describe the coordinate of TCP if there is at least 2 joints with an example. The following additions contribute to a higher grade: Show how matrices can be used to describe complex movements in 3D such as the position of multiple fingerstips on a simple hand or the position of the moon relative the sun in a simplified model. . Try to make a short animation where you illustrate the use of the method.