7- Write a computer program to compute the inverse kinematic equations for the manipulator shown in figure below: ds Test your routine for various special cases. (30pts) 0 Example: when oyhe code should return d2 1, d3 -1, and 45 0 7- Write a computer program to compute the inverse kinematic equations for the manipulator shown in figure below: ds Test your routine for various special cases. (30pts) 0 Example: when oyhe code should return d2 1, d3 -1, and 45 0