Q$1$ A student constructed a simple DIY robotic arm with two degrees of freediom to help

him understands the kinematics of robotic arm. As shown in Fleure Q$1,$ the tobotic

arm is made using half inch house insulation foam and two HXT$900$ serves. It has two

rotary joints and he uses a custom hackduino to control the joints.

$($a$)$ The link lengths of the robotic arm in Figure $Q1$ are $Rl=80mm$ and $R_2=60$

$mm.$ Determine the joint co$-$ordinates when the tool center point is at the $(x,y)$

$=(60,50)$ position.

$($b$)$ The tool center point in Figure $Q1$ is to be moved to the $(x,y)=(55,45)$

position. Using analytical method, determine the corresponding joint co$-$

ordinates of the robotic arm.