2.Robotic Kinetics and Dynamics (20)2.1. A robot arm is initially located at (x, y, z) = (2, 4, 1) and is rotated by 90 degrees around the z-axis. Find the rigid body transformation matrix that represents this movement. (5) 2.2. Explain the concept of manipulator dynamics in robotics. Describe the three main components of manipulator dynamics and their significance in controlling the motion of a robotic manipulator. (5) 2.3. Explain by means of an example the concept of inverse kinematics in robotics (5) 2.4. Explain by means of an example the concept of dynamic equation of motion for a robot