Solve the following two questions:
Q1. Find and plot the joint trajectories which would move the origin of the hand on a straight line starting at (-50, 250, 350) and ending at (50, 300, 400).
Q2. For the robot shown above, the data given in the attached Excel file have been collected for measured positions of point p4 at given sets of motor displacements. Undertake mathematical procedure to calibrate the robot and prove that the accuracy has improved.