Question: Link AB = 4 3 rBC = 1 2 6 rCD = 7 1 rCE = 1 0 2 theta 2 = 6 0 which

Link AB=43
rBC =126
rCD=71
rCE=102
theta 2=60 which is the input
Theta 1=0
Theta 5=148
rAD=130
Theta 3=138
Theta 4=221
please i need a full matlab code for these parameters and this mechanicsm
Link AB = 4 3 rBC = 1 2 6 rCD = 7 1 rCE = 1 0 2

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