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The small welding two-link planar manipulator shown in Figure 1 welds a structure in an automotive production line. The arm OA is pivoted to a fixed point at O and to the arm AB at A. The angles ?1 and ? 2 are controlled such that the end-effector (welding electrode) B moves on a straight line path from (0.3m,0.0m) to (0.0m,0.3m) with constant velocity v=2 m/s. The lengths of the arms are OA=0.3 m and AB=0.2 m. 1. Use MATLAB to find: i) The angles ?1 and ? 2 . (8 marks) ii) The angular velocities of arms OA and AB. (8 marks) 2. Use NX to simulate the manipulator, then compare between MATLAB results and NX results.