The lengths of the two links are a1 = 3 ft and a2 = 2 ft. The desired position of the endpoint of the two-link robot needs to move from 3i 4j to 3i + 4j as a straight line.

1. In some cases, the movement does not fulfill the criterion. You will need to divide the whole stroke into more and smaller segments.

2. Use inverse kinematics to derive 2 if 1 is given. Position 1 Position 2 Position 3 1 53 70.5 60 2

3. Modify the code in the previous part by adding the following code to the program. Change all the angles accordingly. You need to add one additional for loop to move from position 2 to position 3.

4. Observe the animation of the 2-link robot. Does the movement of the endpoint approximate better to a straight line?

5. In this part, you need to plan the trajectory from 3i 4j to 3i + 4j as a straight line. Generate a table with all the planned angles.

6. Write the code and simulate the movement of the two-link mechanism.

theta1 = theta12:(theta13-theta12)/20:theta13; theta2 = theta22:(theta23-theta22)/20:theta23;

for k = 1:20 T1=RobotConv(theta1(k), 0, L1, 0); T2=RobotConv(theta2(k), 0, L2, 0);

% Forward kinematics p0 = [0 0 0]; p1 = RobotPosition(T1); p2 = RobotPosition(T1*T2);

figure(1) X = [p0(1) p1(1) p2(1)]; Y = [p0(2) p1(2) p2(2)]; plot(X,Y,'o-') axis([-L1-L2 L1+L2 -L1-L2 L1+L2]); grid M(k) = getframe(gcf); end