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7. (40 points) Consider the two link planar robot shown in the figure below.In contrast to the SCARA robot, this robot has the second joint prismatic or tele-scoping. The two joint variables are therefore θ and d as shown in the figure. Theforward kinematic equations for this robot arex = dcos(θ)y = dsin(θ)(a) Compute the Jacobian matrix J(θ, d) as a function of the variables θ and d.(b) Write a Matlab program to compute the inverse kinematics using the Newton-Raphson method. Your program should
7. (40 points) Consider the two link planar robot shown in the figure b…
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