Chapter 3, Problem 19P

Suppose that the two-link planar robot Shown in Fig. P3.18 is located in the first quadrant and is oriented in the elbow- down position. If the tip of the robot is located at the point $P\left(x,y\right)=\left(9,9\right)$, determine the values of ${\theta }_1$ and ${\theta }_2$. Assume $l_1=6$ in, and $l_2=8$ in.