A$.$ From material covered during lectures, lab exercises and examples, complete the following tasks:

Derive a DH representation of forward kinematics for the Lynxmotion arm ${?}^1.$ Use MATLAB, lecture

material and further reading. Include all your investigations and report this.

Analyse the workspace of the centre of the wrist $(5^{th}$ joint$)$ when each preceding joint moves

through its range of motion and plot the $2D$ and $3D$ views of the workspace.

Derive the inverse kinematics model for the manipulator $($analytical solution$).$

B$.$ Complete the following:

Plan a task$*$ in MATLAB with at least $5$ positions. This process should give you at least $5$ sets of

Cartesian coordinates specifying the end$-$effector position and orientation in $3D$ space.

Solve the Inverse Kinematics for these positions in $3$D space and obtain sets of Joint Coordinates.

Create an appropriate plot$/$animation in MATLAB for the motion of the robot.

Implement $3$ different trajectories between the Cartesian Points identified above and create an

appropriate plot to demonstrate them$)$:

a$.$ Implement a free motion between the points

b$.$ Implement a straight line trajectory between the points

c$.$ Set an obstacle between any two points $($e$.$g$.$ a cylinder between point $3$ and $4)$ and

implement an object avoidance trajectory.