Question: 3 - 1 3 Solve the inverse position kinematics for the cylindrical manipulator in the figure below. 3 - 1 5 Add a spherical wrist

3-13 Solve the inverse position kinematics for the cylindrical manipulator in the figure below.
3-15 Add a spherical wrist to the three-link cylindrical arm of problem 3-13 and determine the complete inverse kinematics solution.
3 - 1 3 Solve the inverse position kinematics for

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