QUESTION $1$

$1\mathrm{.}1$ Given the $3-$link planar manipulator in Figure Q$1.$ Derive the end$-$effector coordinates using the D$-$H convention.

$(27)$

QUESTION $2$

$2\mathrm{.}1$ Give a brief discussion of the procedure to be followed in the determination of inverse kinematics.

$2\mathrm{.}2$ Given a desired position $d=[d_x,d_y{]}^{TT}$ of the end effector for the robot shown in Figure Q$2.$ Using geometric approach, determine the number of solutions to the inverse kinematics of the robot.