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This is a Robotics and matlab project I need to finish by Sunday

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This is a Robotics and matlab project I need to finish by Sunday. It is 3 questions and involves the robotic arm shown in the file. If you do this, you'll have to follow the 3 questions and make sure the code is valid and running. I think part 3 is the complicated one so I would appreciate help given, I've attached someone else's working out for the format but that should not be copied. Please try your best