Question: Q2: Given the 3-link manipulator as shown below, answer the following questions: 1. Find the end-effector position as a function of joint angles. 2.

Q2: Given the 3-link manipulator as shown below, answer the following questions: 1. Find the end-effector position as a function of joint angles. 2. Solve the inverse kinematic problem. 3. Find the Jacobian matrix. 4. Find the singularities. ) 02 d Py Px

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