Find the best value for S2 (for the locked linear actuator) such that the positioning error due to load variation is minimum. 3 marks Hint: try values for $2 from 90 mm to 190 mm until you get the value which produces minimum positioning error due to load variation With the hand orientation maintained unchanged, point P is now required to move vertically downwards 15mm from the starting point, and perform the following: Graph the joint angles against the y values. For the load variation vector above, graph the radial error against the y values Neatness, adequacy and formatting of the report and graphs 4 marks 3 marks 2 marks