Consider the top view of a robotic workstation, with the parts A and B as shown on the worktable with the reference points of the A (XA-4, YA=0.5, ZA= 0) and B (XB-1.5, YB= 1.5, ZB= 0). The dimensions of the objects are: Object A: Width = 1 Object B: Width = 1 Length = 1.5 Length = 2 Height = 4 Height = 2 The task of the gripper axis is given below. Finger length of the gripper is a = 0.5. a) Determine the arm matrix value I needed to pick up part A from above by grasping it in the middle of the long sides. pickbase (5 marks) (CLO1:PLO2:C6) b) Calculate the arm matrix value I needed to pick up part B from above by grasping it in the middle of the long sides. pickbase (10 marks) (CLO1:PLO2:C6) c) Distinguish the arm matrix value I needed to place part B beside part A as shown with dotted lines.