Please do this in Matlap This problem you turn in. Include your commands (either

Question

Please do this in Matlap

This problem you turn in. Include your commands (either print the screen or save in an m.file) and your results (numbers or plots.) Add comments to your commands to explain what you are doing. The figure above shows a robot arm with two motor joints. The lengths are L_1 = 4' and L_2 = 3' (keep the units in feet.) The variables are the joint angles theta_1 and theta_2. The equations for the x, y coordinates of the hand are: x = L_1 cos theta - 1 + L_2 cos(theta 1 + theta 2) Find theta_1 and theta_2 to position the hand at x = 6' and y = 2'. Give the answer in degrees. You should get two solutions (elbow up or elbow down.) We now want to keep x fixed at 6' and move the hand in a horizontal line. Obtain symbolic solutions for 0i and 02 as functions of y, then evaluate and plot them for y = 0.1 to 3.6'. Use subplot to put the two plots on one page. Remember the angles should be in degrees. Check the point y = 2' to verify your plot agrees with part a).

Explanation / Answer

a)30° and 45° b)plot a graph

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