(Solved): The 2-DOF planar robot shown in figure below with 10 -inch arms starts at 1=20 and 2=2 ...

The 2-DOF planar robot shown in figure below with 10 -inch arms starts at ${?}_1=20^{?}$ and ${?}_2=20^{?}$ with a destination at ${?}_1=50^{?}$ and ${?}_2=80^{?}$. The maximum angular velocity of each joint is $\stackrel{?}{?}=10\%\sec$. Derive kinematic equation of the robot, and calculate and plot the locations of the end of the robot, assume that the joint movements are normalized to start and stop at the same time.