Write a matlab code to design a robotic arm with the following workspace and

configuration space specifications. The robotic arm will have a certain number of

joints and links. You are free to use as many degrees of freedom as you want

according to the requirements. While designing this robot, keep in mind not to

make a redundant configuration space $(1$ or maximum $2$ EXTRA joints are fine for

this assignment$).$ After designing the robotic arm, you are required to simulate it in

MATLAB, apply forward and inverse kinematics.Required Functions in your code:

Forward Kinematics function$1$: Input will be the values of all joint coordinates

and output should be a pose $($transformation matrix$).$

Forward Kinematics function$2$: Input will be the values of all joint coordinates

and output should be a vector $($value of x$,$ y and z i$.$e$.$ the position of end effector in

$3$D space$).$ Describe singular points if any in your configurations.

Inverse Kinematics function: You are required to write a function for inverse

kinematic. Input to function: Cartesian coordinates to any point, and output will be

the joint coordinates required to reach that point i$.$e$.,$ function will take any

configuration$/$pose of end effector and find out all joint coordinates for that pose.

GUI:

GUI is not required but marking will be relevant based on efforts. Therefore, if

GUI is present credit will be given.

Plots and Visualization:

$1-$ Plot results of forward kinematics by running it in a loop and plotting all the

poses$/$positions of end effector that can occur. $($This loop will take time to

process and plot, do not worry$).$

$2-$ Plot your robot link structure using the dh table.

$3-$ Any other plots that you can think of$.$ Configuration Space:

You can use any combination of revolute and prismatic joints. You can use as

many numbers of joints as you want. Although you will have to justify your

configuration space and every joint that you will add in your arm. So$,$ think

carefully while designing and do not make your space redundant.Workspace:

It is understood that above functions should only operate inside workspace.

$($Hint: You need validation checks for this$)$

The shape of your workspace is half donut. The half donut is not hollow, it is solid.

The end effector of robotic arm should reach every point in that half donut space. It

should not reach any point outside that space.

Workspace:

It is understood that above functions should only operate inside workspace. $($Hint: You need validation checks for this$)$

The shape of your workspace is half donut. The half donut is not hollow, it is solid. The end effector of robotic arm should reach every point in that half donut space. It should not reach any point outside that space.

Woulromonn nimmoninn. #matlab