For a two degree of freedom robot below that operates in a XY plane and in a vertical gravity field find the following. • Values of joint variables so that the

end-effector A moves on a circle in the XY plane. This is an inverse kinematic problem. Plot the A position on MATLAB • Joint variables are a function of time. Let each joint time change be t^2. Determine the position of A. This is a forward kinematics problem. Plot the A position on MATLAB