(using Matlab)

104.A planar, two-link robot arm is shown in Figure 4.8. The coordinate system xy is the tool frame and is attached to the end-effector. The coor- dinates of the end-effector relative to the base frame are expressed as Suppose the lengths, in consistent physical units, of the two links are L,-1 and L2-2, and that x = 2.5, y-1.4. Find the joint angles , and& (in radians) using Newton's method with an initial estimate of (0.8, 0.9), tolerance = 10-4, and maximum number of iterations set to 10 Tool frame ! Base frame FIGURE 4.8 A two-link arm in plane motion