1. Consider the rotations of all revolute joint as anti-clockwise. For the diagram of the given Non-Planar (R-R) manipulator, indicated in Figure 1, perform the following: - zo m2 12 81 02 11 Figure 1: Non-planar (R-R) Manipulator d. Perform the Inverse kinematics on the given R-R manipulator and find the expressions for the joint variables (01, 02) in terms of the link lengths (l1, 12) and location of the end-effector (XT, YT, ZT). 1. Consider the rotations of all revolute joint as anti-clockwise. For the diagram of the given Non-Planar (R-R) manipulator, indicated in Figure 1, perform the following: - zo m2 12 81 02 11 Figure 1: Non-planar (R-R) Manipulator d. Perform the Inverse kinematics on the given R-R manipulator and find the expressions for the joint variables (01, 02) in terms of the link lengths (l1, 12) and location of the end-effector (XT, YT, ZT)