A RRP Polar Robot is given by 11 is the height from the base of the first joint to second joint rod. 12 is the link length of the second joint. 12 LI is the height from the base of the first joint to second joint rod. 2 is the link length of the second joint. (a) If the homogeneous transformation matrix is: T= Joint link length = 0.5m, l = 0.25m, Find 0, 0, r (b) Find the Jacobian Matrix (c) Determine interior singularity points, if any. [0.6124 -0.7071 0.6124 0.5 -0.3536 0.3299] 0.7071 -0.3536 0.3299 0 0.8660 0.558 0 01