2) For the simple two-joint robotic arm shown in Figure 1, the coordinates of point A...

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2) For the simple two-joint robotic arm shown in Figure 1, the coordinates of point A are given by УА 4 XA = ₁cose₁ + l₂cose₂ YA L₁sine₁ + l₂sin0₂ 0₂ 19₂ ZA X Figure 1. Two-joint robotic arm. Write a MATLAB function that takes as input the angles 8₁ and 02, and gives as output the coordinates XA and yA. You can use l = 0.25 m and l₂ = 0.2 m. Finally, use this function in a MATLAB program to calculate the coordinates of point A for values of 8, ranging from 0° to 60° in increments of 0.5°, and for 82 starting from 45° and going to -15° (by decreasing the angle in increments of 0.5°). Plot the coordinates of point A in a graph. Label your axes accordingly. Do not forget to add comments in your function. 2) For the simple two-joint robotic arm shown in Figure 1, the coordinates of point A are given by УА 4 XA = ₁cose₁ + l₂cose₂ YA L₁sine₁ + l₂sin0₂ 0₂ 19₂ ZA X Figure 1. Two-joint robotic arm. Write a MATLAB function that takes as input the angles 8₁ and 02, and gives as output the coordinates XA and yA. You can use l = 0.25 m and l₂ = 0.2 m. Finally, use this function in a MATLAB program to calculate the coordinates of point A for values of 8, ranging from 0° to 60° in increments of 0.5°, and for 82 starting from 45° and going to -15° (by decreasing the angle in increments of 0.5°). Plot the coordinates of point A in a graph. Label your axes accordingly. Do not forget to add comments in your function.