ut [1]: ' Kinematic chain of a robot arm (planar) \ n Assignment Figure 1: A two-dimensional articulated arm. The articulated structure has 3 local coordinate frames each one centered at a joint. For each part, the local x-axis is aligned with the part. Consider the arm structure shown in Figure 1. Assume the following values for the arm configuration: - The location of the first joint (i.e., the one that is attached to the ground support) is p1=(3,2). - The lengths of the parts are L1=5 and L2=8. Question 7 Write the matrix that represents the coordinate frame F{1} w.r.t. to the frame of the end effector In [9]: \# Answer goes here. Add more code/markdown cells as needed