A planar arm with three degrees of freedom shown in Figure 3 has joints 1 and 3 are revolute joints, joint 2 is prismatic (sliding). (a) What is the relationship between joint 1 and 2? Assign the...

A planar arm with three degrees of freedom shown in Figure 3 has joints 1 and 3 are revolute joints, joint 2 is prismatic (sliding). (a) What is the relationship between joint 1 and 2? Assign the frame and define joint variables accordingly, as well as link parameters and explain why? The frame 4 is attached with the tip of the link 3 with the link length is 1, . (b) Derive the inverse kinematics of the three-link manipulator shown in Figure 3. It is, for a set of given goal position (x,v„ y,v, cE3) of the tip of the robot arm with respect to the base frame, to fmd out the corresponding values: 61,d1,6(. (Hint assuming d, 11,)