Matlab Write a Function for Forward Kinematics of the RPR Robot

Input Format are the joint angles in radian, as shown in the figure is the extension of the prismatic joint in inches, as shown in the figure Output Format R is a 3x3 rotation matrix representing (Note: where represents a point in frame x) pos is a 4x3 matrix where each row contains the x,y,z coordinates represented as [x y z] in matrix form. Each row is the x,y,z coordinates of a point in world frame (frame 0) The first rows must be in the following order: Position of frame 0 in world frame Position of frame 1 in world frame Position of frame 2 in world frame Position of frame 3 (the end effector) in world frame code sample : function [ pos, R ] = RPR_fk( theta1, d2, theta3 ) %RPR_FK Write your code here. The input to the function will be the joint % angles of the robot in radians, and the extension of the prismatic joint in inches. % The output includes: % 1) The position of the end effector and the position of % each of the joints of the robot, as explained in the question. % 2) The rotation matrix R_03, as explained in the question. %% YOUR CODE GOES HERE pos = zeros(4, 3); R = eye(3); end