he link length are defined as follows: l$0=0\mathrm{.}35$m l$1=0\mathrm{.}25$m l$2=0\mathrm{.}15$m l$3=0\mathrm{.}2$m

There are displacements between some of the joints: d$1=0\mathrm{.}03$m d$2=0\mathrm{.}04$m d$3=0\mathrm{.}04$m d$4=0\mathrm{.}025$m

The picture above shows the robot in the configuration where all joint angles are $0.$ The direction of

positive rotation is shown about each joint.

The simulator will actually show one additional joint $($joint $6)$ corresponding to the opening of the gripper.

This, however, is not relevant for the kinematic functions and can be ignored

You are to derive and implement a partial inverse kinematic solution for the robot manipulator. To make

this problem tractable, we assume theta$5=0$ and require that the X$-$axis of the tool frame is pointed straight

down