Question $1$

The URRPR spatial open chain robot is shown below in its zero position.

For

L

$=$

$1$

L$=1,$ determine the end$-$effector zero configuration

M

M$.$ The maximum allowable error for any number is $0\mathrm{.}01,$ so give enough decimal places where necessary.The URRPR spatial open chain robot is shown below in its zero position.

For $L=1,$ determine the end$-$effector zero configuration $M.$ The maximum allowable error for any number is

$0\mathrm{.}01,$ so give enough decimal places where necessary.