1. Given a robot with three degrees of freedom described in the figure. The robot has two linear degrees of freedom (d and d) and one rotational degree of freedom 0. The 100 cm long arm l is perpendicular to arm di and arm di is perpendicular to arm d. Arm l rotates around arm d at an angle 0 measured relative to the positive X-axis. d is measured relative to the XY plane and d is measured from the origin of the axes. 1=100 d d Z Y