Problem 1: A two link robot arm of type RR is working in vertical plan and has its links of lengths ( 1 l = 400 mm and 2 l = 250 mm). The range of motion of its joints: 0  180 q1 and −120  120 q2 . a) Determine the values of joint angles (if exists) that will allow the robot tip to reach the points (consider the second joint coordinate range): a. (450,180) b. (-200,400) c. (480,480)