5. The image below shows a 4-wheeled robotics platform consisting of 4 fixed wheels at the locations and orientations shown. The aim of this question is to employ the kinematic modelling techniques covered during the course to analyse and demonstrate the limited maneuverability of the platform. In the diagram the robot coordinate system is also shown where the origin is at the centre of the platform and the positive x-direction corresponds to the direction of forward travel of the platform. Each wheel has been labelled with a number from 1-4 to allow you to associate the constraints that you develop in your answers to each of the questions below to the corresponding wheel. ! a. For each wheel provide an expression for both the rolling and sliding constraint. In each case provide a diagram that shows how you have determined the angles that are relevant to the constraints (i.e. as shown in slide 26 of the notes). 5. The image below shows a 4-wheeled robotics platform consisting of 4 fixed wheels at the locations and orientations shown. The aim of this question is to employ the kinematic modelling techniques covered during the course to analyse and demonstrate the limited maneuverability of the platform. In the diagram the robot coordinate system is also shown where the origin is at the centre of the platform and the positive x-direction corresponds to the direction of forward travel of the platform. Each wheel has been labelled with a number from 1-4 to allow you to associate the constraints that you develop in your answers to each of the questions below to the corresponding wheel. ! a. For each wheel provide an expression for both the rolling and sliding constraint. In each case provide a diagram that shows how you have determined the angles that are relevant to the constraints (i.e. as shown in slide 26 of the notes)