Practice (4b')

2. Propose a control software for the following system and get the tool position (S2).

More precisely, define:

1. An object diagram to organize the data information available (nb. first define referentials).
2. A communication diagram to explain how to get the absolute position of the tool.
3. A class diagram for elements' types.
4. Also give a Java main method to build the structure of (1) and realize (2)
5. Express with the OCL the following constraints:
   a. The length of a link can only be positive.
   b. A link can not be attached to itself (ie. a kinamatic chain cannot be closed).