(A planar manipulator with two joints)

Dear expert kindly help me in this problem plz. Figure is given with questions.solve all the parts with right solutions on word. work will be appreciated.will give you upvote thanks

V2 X] 02 02 01 11 yo 12 01 10 00 Consider image on the previous slide. The rotation of the joints are about the z axis of their respective frames. The arm lengths l and 12 are assumed to be fixed. Using notations on Slide 3, your tasks are: 1. Find the rotation matrices R (01) and R}(02). 2. Express the vector origins 01 in the frame 00, that is o Similarly, express 02 in the frame 3. Write homogeneous transformations A1 T and A2 = T, using results you get above. 4. What is the total homogeneous transformation T? 5. Assume that 0i, i = 1, 2 change with time. Calculate the linear velocity v as function of 61 and 02. 6. Calculate the angular velocity Wo.2 a function of ), and 02. as 01,02