1. Given a robot with three degrees of freedom described in the figure. The robot has...

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1. Given a robot with three degrees of freedom described in the figure. The robot has two linear degrees of freedom (d₁ and d₂) and one rotational degree of freedom 0. The 100 cm long arm l₁ is perpendicular to arm di and arm di is perpendicular to arm d₂. Arm l₁ rotates around arm d₁ at an angle 0 measured relative to the positive X-axis. d₁ is measured relative to the XY plane and d₂ is measured from the origin of the axes. 1₁=100 d₁ d₂ Z Y 1. Given a robot with three degrees of freedom described in the figure. The robot has two linear degrees of freedom (d₁ and d₂) and one rotational degree of freedom 0. The 100 cm long arm l₁ is perpendicular to arm di and arm di is perpendicular to arm d₂. Arm l₁ rotates around arm d₁ at an angle 0 measured relative to the positive X-axis. d₁ is measured relative to the XY plane and d₂ is measured from the origin of the axes. 1₁=100 d₁ d₂ Z Y