(a) Find the inverse kinematics solution (joint angles θ_1, θ_2 & θ_3) for a 3-DOF robotic manipulator with its homogeneous transformation matrix as shown in the attached figure 1. Assume link lengths of 1m each.
(b)Let a body frame B is initially coinciding with the reference frame A and then it (B) is first rotated by 60° about the z-axis of frame A and then it (B) is rotated by 30° about the x-axis of the frame A. Now the coordinates of some point P were calculated w.r.t this frame B and are found to be (1,3,5). Find the coordinates of this point P w.r.t frame A.
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SEE 0.47 -0.82 1.24 Hy 0.82 0.47 1.24 o 1 1 O 0 个 (figure 1)
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