Let $1=2=1.$ Let $1=$

$3,2=$

$2.$ Use iterative methods to solve for the inverse velocity

kinematics that tell us what joint velocity we need to get a desired hand velocity. We desire $=$

$0\mathrm{.}5,=0\mathrm{.}5.,$ what are the needed $1,2?$ Let $[1,0,2,0]=[0,0]$

a$.$ Use the Jacobi method to perform $3$ iterations to solve for the necessary $1,2.$

b$.$ Use the Gauss$-$Seidel method to perform $3$ iterations to solve for the necessary $1,2.$

c$.$ Use the SOR method with $=1\mathrm{.}05$ to perform $3$ iterations to solve for the necessary $1,2.$

d$.$ Compare your answers for $1.$b$,2.$a$,2.$b$,$ and $2.$c