This exercise focuses on the inverse-pose kinematics solution for the planar 3-DOF, 3R robot. (See Figures 3.6 and 3.7; the DH parameters are given in Figure 3.8.) The following fixed-length parameters are given: L1 = 4, L2 = 3, and L3 = 2(m). a) Analytically derive, by hand, the inverse-pose solution for this robot: Given T, calculate all possible multiple solutions for 8-, 83 }. (Three methods are presented in the textchoose one of these.)