1. It is desired to have the first joint of a 6‐axis robot go from an initial angle of 20 degrees to a final angle of 50 degrees in 3 seconds. Using the fifth-order polynomial joint‐space trajectory method. Determine the following a) Sketch the joint angles, velocities, and accelerations at 1, 2, and 3 seconds. It is assumed that the robot starts from rest and stops at its destination. b) Perform the same process using the third-order polynomial. c) What is the difference between the fifth-order vs. third-order polynomials?