I NEED THE MATLAB CODE!!!!. A two$-$link robot arm in plane motion is shown in $xy$ Figure $1.$ The coordinate system is the tool frame and is attached to the end$-$effector. The coordinates of the end$-$effector relative to the base frame are expressed as

$x=L_{1}cos{}_1+L_{2}cos({}_1+{}_2)$

$y=L_{1}sin{}_1+L_{2}sin({}_1+{}_2)$

Suppose the lengths, in consistent physical units, of the two links are $L_1=1$ and $L_2=2,$ and that $x=2\mathrm{.}5,y=1\mathrm{.}4.$

Using Newton's method with an initial estimate of $(0\mathrm{.}8,0\mathrm{.}9$ :

a$)$ Find one manual iteration of the joint angles ${}_1$ and ${}_2($in radians and degrees$)$

b$)$ Write a MATLAB script to find the joint angles ${}_1$ and ${}_2($in radians and degrees$)$ with tolerance $={10}^{-4}$ and maximum number of iterations set to $10.$

Figure $1.$ A two$-$link robot arm in plane motion