QUESTION 2The easiest way to understand kinematics is by developing it on a 2D robotic arm that contains two links, two joints and one end-effector or a gripper. The first joint will rotate, but it is connected to a table or the floor by a foundation.While link 11 connects it to a second joint that can translate and rotate, a second link 12 links this joint to the fixed-end effector.The links have lengths 11 and 12 respectively with a 2D coordinated system assigned to the whole manipulator. The base or the first joint is coordinated at (0,0) while the gripper has coordinates (x,y). The link 11 connecting the first joint tothe second is rotated by an angle a, followed by the rotation of the second link connecting the second joint and the gripper by angle B.Find the a and B, Joint Variables using inverse kinematics for the given 2-link manipulator.Let Length of the links 1₁ and 12 = 1 and (x y) = (1+√3, 1+√3₁22fixedjoint(0,0)O1₁amovablejointa = 60 or 30 and 3 = 30 or 30a = 90 or 45 and B = 60 or -60Oa45 and B=90 or -90a 90 and B-90 or -90bendeffector

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