=7. Consider a two-link planar robot, with positive orientations of 0, and 0, as shown in Fig. P3.18. (a) Suppose 0, =-100°, 02 = 210°, l4 = 5 in., and l = 10 in. Sketch the ori- entation of the robot in the x-y plane, and determine the x-y coor- dinates of point P. (b) Suppose now that the same robot has its tip located in the first quadrant and is oriented in the "elbow-up" position, as shown in P3.27. If the tip of the robot is located at point P(x, y) = (12, 2) in., determine the values of 0j and 02. %3D y. in. P(12, 2) t, in. 10 5

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