Question: Q 4 . ( 3 Points ) Consider the two - link planar robot in Q 3 . Write a MATLAB code to calculate the

Q4.(3 Points)
Consider the two-link planar robot in Q3. Write a MATLAB code to calculate the inverse
kinematics and plot the joint angles versus time given the desired tool trajectory in Cartesian
coordinates. Please define your own desired trajectory for the tool (must be reachable, must be a
smooth curve, and must be a function of time), calculate the inverse kinematics to obtain the joint
angles that follow the desired trajectory (make sure your joint angle results are continuous). Plot both
the tool trajectory as well as the joint angles vs. time as separate figures.
Q 4 . ( 3 Points ) Consider the two - link planar

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