1. Consider the RRR manipulator shown here: 4 Zo.Z1 out 4 0,1 Note: in the figure, the numbers below the links represent the lengths. a. Find the DH parameters for this manipulator. Remember to assign the interior frames of this manipulator using the conventions discussed in class. -1 4 Derive the forward kinematics, T, of this manipulator c. Find the basic Jacobian, J, for this manipulator. d. Find Jv, the position Jacobian matrix expressed in frame1) e. Use the matrix that you found in part (d) to find the singularities (with respect to linear velocity) of this manipulator. 1. Consider the RRR manipulator shown here: 4 Zo.Z1 out 4 0,1 Note: in the figure, the numbers below the links represent the lengths. a. Find the DH parameters for this manipulator. Remember to assign the interior frames of this manipulator using the conventions discussed in class. -1 4 Derive the forward kinematics, T, of this manipulator c. Find the basic Jacobian, J, for this manipulator. d. Find Jv, the position Jacobian matrix expressed in frame1) e. Use the matrix that you found in part (d) to find the singularities (with respect to linear velocity) of this manipulator