A 2-link planar arm has a revolute joint at [0;0;0] in the fixed frame, with a 12 cm link attached. At the end of that link is a second revolute joint with a 9 cm link attached. Assuming the end of the second link is the end effector position,

a.) write 2 homogeneous matrices that describe the transformation from the origin in the fixed frame to the endpoint, P.

b.)Write a SciLab or MATLAB program that models the forward kinematics of the 2-Link Planar Arm. Calculate the pose of P for two sets of joint Angles, a.) = [ 30; -90] and b.) = [-90; 90]

c.)assume that revolute joint 1 has a range of -135 to +135, centered on the Xi axis, and joint 2 has a range of -45 to +45, centered on link 1. Use math software to compute the Workspace of the robotic arm.