6 3RRR Robot Control Before you can complete the RRR3_go_congfiguration function, you need to do the following. Measure new servo angle constraints to [-90, 90] (update the RRR_go_angles file). Determine offset angles dej for dh.delta, as shown in Fig. 2. Determine servo coordinate rotation angles (dh.beta). Complete the function RRR3_go_configuration (dh, displ, elbowplus) that calls the following functions: RRR3_reverse (reverse kinematics) and RRR_go_angles. You also need to do the following in the RRR3_go_configuration function: Extract robot parameters (a, delta, etc.) from the dh structure. Calculate {; using dh.beta as shown in Fig. 3. Constrain the calculated angles to between 180. Utilize the sample code in RRR3_reverse to complete the function by extending it for virtual robots 2 and 3.