Question: b ) For l o = l 1 = l 2 = 1 and the joint variables = ( 0 , 2 , - 2

b) For lo=l1=l2=1 and the joint variables =(0,2,-2,1), write a program in the language of your choice (e.g. Matlab, Python) that calculates the end-effector configuration Tin SE(3). Show that your answers using both sets of screw axes agree with each other. Include your code and the program output in your submission.
b ) For l o = l 1 = l 2 = 1 and the joint

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