Do not use chatGTP and explain each step please $($b$)$ The figure below shows an image of a $2R$ robot including the link

lengths and joints angles. Compute the coordinates of the end

effector B$.$

$($c$)$ Continuing with the example from part $($b$),$ if a union of spheres

method is used for collision detection with a sphere radius of $0\mathrm{.}4,$

Maynooth University

would the end effector above be considered in collision with the

rectangular obstacle shown to the right figure?DSSSSSS