Use the vector and rotation functions you created above to find 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 · planar_rotation_set • R_planar • rotation_set_cumulative_product 2. 3 4 5 6 1 function [link_ends,... R_joints,... R_links,... link_vectors_in_world,... link_end_set,... link_end_set_with_base] = planar_robot_arm_endpoints(link_vec tors, joint_angles) 7 % Take a set of link vectors and joint angles, and return a matrix whose 8 % columns are the endpoints of all of the links (including the point that 9 % is the first end of the first link, which should be placed at the 10 % origin). 11 % 12 % Inputs: 13 % 14 % link_vectors: a lxn cell array, each element of which is a 2x1 vector 15 % describing the vector from the base of the corresponding link to 16 % its end 17 % joint_angles: a nxi vector, each element of which is the joint angle 18 % preceeding the corresponding link 19 % 20 % Outputs: 21 % 22 % link_ends: a 3x(n+1) matrix, whose first column is the location 23 % of the base of the first link (which should be at the origin), and 24 % whose remaining columns are the endpoints of the links 25 % 26 % Additional outputs (These are intermediate variables. Having the option 27 % to return them as outputs lets our automatic code checker tell you 28 % where problems are in your code): 29 % 30 % R_joints: The rotation matrices associated with the joints 31 % R_links: The rotation matrices for the link orientationsr4p8 32 % link_vectors_in_world: The link vectors in their current orientations 33 % link_end_set: The endpoints of the links after taking the cumulative 34 % sum of link vectors 35 767676/0/6/0/70 % First, generate a cell array named 'R_joints' that contains a set of % rotation matrices corresponding to the joint angles % Second, generate a cell array named 'R_links' that contains the % orientations of the link frames by taking the cumulative products of % the joint rotation matrices 767670/7767676 99/ % Third, generate a cell array named 'link_vectors_in_world' that % contains the link vectors rotated by the rotation matrices for the % links 1/6/0/6/0/6/6/ % Fourth, generate a cell array named 'link_end_set' that contains the % endpoints of each link, found by taking the cumulative sum of the % link vectors 165/6 % Fifth, add a cell containing a zero vector (for the origin point at % the base of the first link) to the beginning oflink_end_set, saving % the result in a cell array named 'link_end_set_with_base' % Sixth, convert the set of link vectors to a simple matrix using the % 'cell2mat' command, saving the result in a matrix named 'link_ends' end Code to call your function C Reset 1 link_vectors = {(1;0],[1;8]}; 2 joint_angles = [pi/4; -pi/2]; 3 link_ends = planar_robot_arm_endpoints(link_vec tors, joint_angles) Run Function Assessment: Submit 2 Check that link_ends and intermediate values are correct Check that expected sub-functions are used.