Problem 5. A RRP Polar Robot is given by 1 (a) If the homogeneous transformation matrix...

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Problem 5. A RRP Polar Robot is given by 1 (a) If the homogeneous transformation matrix is: T- Joint link length 11-0.5m, 12-0.25m, 0, 0, r (b) Find the Jacobian Matrix (c) Determine interior singularity points, if any. [0.6124 -0.7071 -0.3536 0.3299 0.6124 0.7071 -0.3536 0.3299 0.5 0 0 0 0.8660 0.558 0 1 1 Problem 5. A RRP Polar Robot is given by 1 (a) If the homogeneous transformation matrix is: T- Joint link length 11-0.5m, 12-0.25m, 0, 0, r (b) Find the Jacobian Matrix (c) Determine interior singularity points, if any. [0.6124 -0.7071 -0.3536 0.3299 0.6124 0.7071 -0.3536 0.3299 0.5 0 0 0 0.8660 0.558 0 1 1