Using the following command:

$>$ library$($T SA$)$

$>$ data$($days$),$

we can retrieve a data file named robot in R$.$ The data file contains a time series obtained from an industrial robot. The robot was put through a sequence of maneuvers, and the distance from a desired ending point was recorded in inches. This was repeated $324$ times to form the time series.

$($a$)$ Estimate the parameters of an ARMA$(1,1)$ model for these data.