(Solved): ] Use the vector and rotation functions you created above to find ...

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Use the vector and rotation functions you created above to find the Jacobians for the endpoints of the links in a planar arm.

In addition to standard Matlab functions, your code may assume that you have access to the functions you created in previous assignments (some of these you will call directly in this assignment, some will only be called by other functions that you call). Remember that for these functions, the grading script will use the instructor's copy of the functions:

vector_set_rotate

vector_set_cumulative_sum

vector_set_difference

rotation_set_cumulative_product

threeD_rotation_set

threeD_robot_arm_endpoints

threeD_joint_axis_set

Rz

Ry

Rx

In addition to standard Matlab functions, your code may assume that you have access to the functions you created in previous assignments (some of these you will call directly in this assignment, some will only be called by other functions that you call). Remember that for these functions, the grading script will use the instructor's copy of the functions: - vector_set_rotate - vector_set_cumulative_sum - vector_set_difference - rotation_set_cumulative_product - threeD_rotation_set - threeD_robot_arm_endpoints - threeD_joint_axis_set - $$Rz$$ - Ry - $$\mathrm{Rx}$$ de to call your function $$(2)$$ stirst, run with numeric input link_vectors $$=\{[1;0;0],[.5;0;0],[.5;0;0]\};$$ joint_angles $$=[0.4;?0.5;.25]?$$ pi; joint_axes $$=\left\{z^{?},{}^{?}{z}^{?},{}^{?}{z}^{?}\right\}$$; link_number $$=3$$ arm_Jacobian (link_vectors, joint_ang les, joint_axes, link_number) \% Second, run with symbolic input syms a b c joint_angles = $$[a;b;c]$$; joint_axes $$=\left\{{}^{?}{z}^{?},{}^{?}{z}^{?},{}^{?}{z}^{?}\right\}$$; link_number $$=2$$; arm_Jacobian (link_vectors, joint_ang les, joint_axes, link_number)