Consider the following cylindrical manipulator. 1. Find the Jacobian of this manipulator in terms of D-H parameters (01, d2, d3). 2. Using the Jacobian obtained in 1), calculate the value of the angular velocity and linear velocity v of the end-effector 03 with respect to the base when 0 = 0.1 rad, d2=0.5 m, d3=1.0 m, = 0.2 rad /s d=0.2m/s , =0.2m/s # Note that is the angle between xo and X, about zo d X2 1m Z YO X1 Xo d3 Z2 X3 Z3 03