Question: Problem 2 . [ 1 0 Marks ] Consider the SCARA manipulator illustrated in figure. Calculate the inverse kinematics parameters 1 , 2 and d

Problem 2.[10 Marks]
Consider the SCARA manipulator illustrated in figure. Calculate the inverse kinematics parameters 1,2 and d4 of the robot shown. Takes L1=120mm,L2=100mm,L3=150mm,xc=150mm,yc=180mm and zc=90mm.
Problem 2 . [ 1 0 Marks ] Consider the SCARA

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