The link lengths of the robot are not equal, and their lengths are $I_1=80cm,I_2=60cm.$ Point $C$ is located at the furthest reach point of the robot arm. Length $b$ is half of the length of $c,$ i$.$e$.$: $2b=c.$ ABC is an equilateral triangle.

In this task, robot is to follow a triangular path following points ABC with the following motion sequence.

Step $0)$ Robot is initially at a non$-$singular configuration, the home position. $($You may use already defined home position in HW$2)$

Step $1)$ Robot then moves to point A$,$ with constant joint velocities.

Step $2)$ Starting from point A$,$ the end effector of the robot follows the path ABCA with constant end effector speed.

Step $3)$ Once the robot reaches endpoint A$,$ the robot returns to the home position and finishes the motion sequence.

Plot the joint angles vs$.$ time for the motion sequence explained above. The limit for joint velocities is $0\mathrm{.}1ra\frac{d}{s}$ for all tasks. PLEASE WRITE ME A MATLAB CODE THAT COVERS ALL STEPS