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Let r be a robotic arm with a fixed base and seven links. the last joint of r is a prismatic joint, the other ones are revolute joints. give a set of parameters that determines a placement of r. what is the dimension of the configuration space resulting from your choice of parameters?

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:you areto design the controller for alight that functions both as an ordinary light and also as a motion activated light and alarm. a.if the manual switch s is on, then the light l is on. b.besides the manual switch, there is a motion detector, m1, which activatesthis light.c.if motion is detected but the light is on anyway because s is on, only then a secondoutput a, an alarm, is turned on. d.the disable switch, d, disables the motion activated light and alarmbut leaves manual control operation of the light using switch s.(i)read the problem statement and clearly identify the inputs and outputs for the circuit you are designing. (ii)create the truth table for this system; include the light, alarm, switch, disable, and the motion sensor.(iii)draw a schematic of this system.