Modify the task controller by adding a velocity control algorithm to move the end effector of the robot

with a desired reference velocity.

$$ Show the block diagram$($s$)$ in your report and submit the necessary simulation files.

$$ Give constant velocity references of $$

$=$ m$/$s and $$

$=$ m$/$s and simulate the system.

Show the plots of $$

$()$ & $()$ on the same graph and $$

$()$ & $()$ on the same graph as

a result of a $1$ second long simulation. The simulation should start from a configuration where the

manipulator is horizontal $($i$.$e$.$

$(0)=/4$ rad and $$

$(0)=/4$ rad$).$

$$ Prepare a suitable dynamic plotting algorithm to show the behavior of the robot and submit the

necessary plotter file $($hint: a similar algorithm is shown in the class notes$).$