Consider a planar 2R manipulator with the following dimensions such that its end-effector moves on a straight line in one minute, 1= sum of all digits in your student number divided by 50, Example, for s1234567, we have 1-0.56 meter. L2=2-11. X (0) 1 m, Y(0)=1 m, X(1)=-1 m, Y(1)=1 m A septic time function for X will move the end-effector from X (0) = 1 to X (1) = -1 with zero velocity, zero acceleration, zero jerk at both ends. X = 1-70t4 + 168t5 - 140t +40t7 Employing inverse kinematics analysis, plot 3 graphs: 1. Angles of joint 1 and 2 as function of time (10 marks). 2. Angular velocities of joint 1 and 2 as function of time (20 marks). 3. Angular accelerations of joint 1 and 2 as function of time (30 marks).