(Matlab) The parameters for the robot shown below is described by the matrix Ai.

L2 z3 L3 xg (downwards) alfa p/2 -pi/2 0 Frame theta d 2 3 piv2 pi/2 pi/2 LO L2 L1 0 0 L3 (3.10) -so, 00][1000 10 0 ai 1 000 so, c, 00110100110100||0ca.-8a. 0 0 0 1 000 d 0 01 00sa Ca 0 0 0 0 1 0 0010 0 0 1 ani (1) Define matrix Ai, A2, A3. 2 are not not zero.) (Unlike the examples shown in Lesson 10, slide page 4, alpha 1& (2) Define the matrix Toi-A1, To2-A1 A2, To3- A1 A2 A3 (3) Draw the robot joint as a red circles and the links as blue lines in 3D space. The first thaw elements of the 4th column of Tol is (x1.y 1,21) , ??? is (x2y2,2), ??? is (x3,y323) The robot should automatically move with the following joint angles {??, ?2, ?3) in degree changes from {0,0,0} to {90, 90, 90} to {0.90, 0} to {43, 30, 0} L2 z3 L3 xg (downwards) alfa p/2 -pi/2 0 Frame theta d 2 3 piv2 pi/2 pi/2 LO L2 L1 0 0 L3 (3.10) -so, 00][1000 10 0 ai 1 000 so, c, 00110100110100||0ca.-8a. 0 0 0 1 000 d 0 01 00sa Ca 0 0 0 0 1 0 0010 0 0 1 ani (1) Define matrix Ai, A2, A3. 2 are not not zero.) (Unlike the examples shown in Lesson 10, slide page 4, alpha 1& (2) Define the matrix Toi-A1, To2-A1 A2, To3- A1 A2 A3 (3) Draw the robot joint as a red circles and the links as blue lines in 3D space. The first thaw elements of the 4th column of Tol is (x1.y 1,21) , ??? is (x2y2,2), ??? is (x3,y323) The robot should automatically move with the following joint angles {??, ?2, ?3) in degree changes from {0,0,0} to {90, 90, 90} to {0.90, 0} to {43, 30, 0}