Industrial & Applied Robotics$-0908722$ Assignment #$2$ Q$1$: A camera is attached to the end effector frame T$\_($c$)$ of the $3$DOF robot below as given. The robot thenmakes a differential motion described as D$=[$dx$,$dy$,\backslash$delta $\_($z$)]=[0\mathrm{.}040\mathrm{.}03,0\mathrm{.}01].$ Find the following when $\backslash$theta $\_(1)=45\backslash$deg $,$d$\_(2)=2,$d$\_(3)=$b$.$Note: a is the last digit of your student ID$,$ b is the second to last digit of your student ID$.$ For example, ifour student ID is $8110165,$ then a$=5,$b$=6.-$ my id is: $8220956($a$)$ Find the Forward Kinematics, Inverse kinematics, and singularities for this robot.$($b$)$ Determine the joint differential motions.$($c$)$ Calculate the change in the end effector frame.$($d$)$ Determine the updated position of the camera following this differential motion.$($e$)$ Compute the necessary differential motions, measured relative to Frame T$\_($c$),$ that would be equivalentto moving the robot to the same new location as described in part $($e$).$T$\_($c$)=[[0,0,-1,$a$],[0,-1,0,$a$+1],[-1,0,0,$a$+2],[0,0,0,1]]$Notes:$1-$Submit an electronic version of the used software codes and an electronic version of the solution $($wordand pdf$)$ to eLearning by Saturday Dec $23,2023,$ by $8$pm$.$