1. [5pt] The spatial RRRPR open chain is shown in its zero position below with fixed and end-effector frames chosen as indicated ({0} and {b}, respectively). Determine the end- effector zero position configuration M, the screw axes S; for i = 1,... 6, in {0}. L3 LA L2 04 201 Ls .06 02 Li L6 http://modernrobotics.org 20 b o {b} {0}