PLEASE HELP!!!
Consider the planar parallel robot shown in Figure 5 (also known as a pantograph mechanism). In this system, the origin of the world frame sits at the center of the line connecting the active joints. The parametric link lengths are given as li, and the offset length is r.
(xe, ye)
Figure 5: Pantograph mechanism
a) Solve the forward kinematics of this system using the vector loop method.
b) (Bonus: 10 pts) Solve the inverse kinematics of this system using any method you prefer.