This assignment is done using MATLAB and we are required to submit code with this question along with formulas used. Thank you.

Consider the same robot as above. Find the coordinates of the tool when ${}_1=\frac{}{6}$ and

${}_2=\frac{}{2}.$ If the joint velocities are constant at ${}_1^{}=1,{}_2^{}=2,$ what is the velocity of the tool? What is the instantaneous tool velocity when

${}_1={}_2=\frac{}{4}.$ Is it possible that there are an infinite number of solutions to the inverse kinematics? If so$,$ explain how this occurs.