Problem Description: You are to write a program to control a 2DOF Lego robot arm to draw a trajectory with a laser on a 2D Cartesian plane The assignment will be completed in Groups of 2, please choose a name for your group and email the name and its members. Trajectory will consist of straight lines in a 2D Cartesian coordinated system. An origin will be given, and 5 other points (that will be unknown to you) on a chessboard pattern. You will need to formulate and calculate the trajectories, inverse kinematics, and send them to the robot motors to control the pen. *Utilise "Not Exactly C" to control the Lego Robot Arm. Visit the NXC site: http://bricxcc.sourceforge.netbc/ to familiarise yourself with the program and its commands. Install it on your computer or lab computers. Details of the Arm are not given; you must measure and find the details you need from the system yourself. You could leave these as variables initially and acquire the measurements required when testing. Do not install any additional software, additional code libraries can be used but must be explained in detail in their function. In the event the robot has failed or has been broken, please email the course coordinator ASAP Booking of the robot is essential. Bookings will be the same time each week for the semester for a maximum of 2 hours a week. Please email me your group name and the day and time you wish to access the robot. Bookings will be published on the studydesk. The robot arm will be located in Z127 Feel free to discuss your fastest times and possible problems in the forums, but refrain from putting up complete/partial solutions. Plagiarism will not be tolerated. Write a detailed report. Must contain the following aspects (not in any particular order) below (also be sure to check the marking criteria for any other aspects that will be marked) 1. Flowcharts, block diagram, code comments Inverse Kinematic Calculations. 2. 3. Any assumptions made. 4. Analysis of outcomes, errors, etc. Where do the errors come from? 5. How would you improve the system? 6. Team member assessments Specify, comment, and agree upon the percent work i.e. 50/50, 30/70) done by each member. This will affect each individual's final mark. Problem Description: You are to write a program to control a 2DOF Lego robot arm to draw a trajectory with a laser on a 2D Cartesian plane The assignment will be completed in Groups of 2, please choose a name for your group and email the name and its members. Trajectory will consist of straight lines in a 2D Cartesian coordinated system. An origin will be given, and 5 other points (that will be unknown to you) on a chessboard pattern. You will need to formulate and calculate the trajectories, inverse kinematics, and send them to the robot motors to control the pen. *Utilise "Not Exactly C" to control the Lego Robot Arm. Visit the NXC site: http://bricxcc.sourceforge.netbc/ to familiarise yourself with the program and its commands. Install it on your computer or lab computers. Details of the Arm are not given; you must measure and find the details you need from the system yourself. You could leave these as variables initially and acquire the measurements required when testing. Do not install any additional software, additional code libraries can be used but must be explained in detail in their function. In the event the robot has failed or has been broken, please email the course coordinator ASAP Booking of the robot is essential. Bookings will be the same time each week for the semester for a maximum of 2 hours a week. Please email me your group name and the day and time you wish to access the robot. Bookings will be published on the studydesk. The robot arm will be located in Z127 Feel free to discuss your fastest times and possible problems in the forums, but refrain from putting up complete/partial solutions. Plagiarism will not be tolerated. Write a detailed report. Must contain the following aspects (not in any particular order) below (also be sure to check the marking criteria for any other aspects that will be marked) 1. Flowcharts, block diagram, code comments Inverse Kinematic Calculations. 2. 3. Any assumptions made. 4. Analysis of outcomes, errors, etc. Where do the errors come from? 5. How would you improve the system? 6. Team member assessments Specify, comment, and agree upon the percent work i.e. 50/50, 30/70) done by each member. This will affect each individual's final mark