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. Using the transformations from the previous questions, calculate the global coordinates of the middle point of each part of the robot arm when 1=/8 and 2=/4. Hint: the location of the middle point of part 1 is (2L1,0) (w.r.t. frame F{1} ). \# Answer goes here. Add more code/markdown cells as needed