2-For a six degree of freedom robotic manipulator arm that has a spherical wrist, how can...

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2-For a six degree of freedom robotic manipulator arm that has a spherical wrist, how can that be detected from the Jacobean matrix? a) The upper right-hand quarter of the matrix will be zeros. b) It will be a singular matrix. c) It will be full rank (i.e., have a rank of 6).. d) The upper left-hand quarter of the matrix will be zeros. 3-How can the manipulability of a Puma 560 robotic manipulator arm be improved? a) By ensuring that theta 5 (O0) is never zero to avoid a singularity. b) By mounting it on an x-y prismatic-prismatic platform, thus increasing its degrees of freedom to 8. c) By adding a tool that is shifted in the z axis by 300 mm. d) By raising it on a base a distance of 30 inches (762 mm). 2-For a six degree of freedom robotic manipulator arm that has a spherical wrist, how can that be detected from the Jacobean matrix? a) The upper right-hand quarter of the matrix will be zeros. b) It will be a singular matrix. c) It will be full rank (i.e., have a rank of 6).. d) The upper left-hand quarter of the matrix will be zeros. 3-How can the manipulability of a Puma 560 robotic manipulator arm be improved? a) By ensuring that theta 5 (O0) is never zero to avoid a singularity. b) By mounting it on an x-y prismatic-prismatic platform, thus increasing its degrees of freedom to 8. c) By adding a tool that is shifted in the z axis by 300 mm. d) By raising it on a base a distance of 30 inches (762 mm).

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