Consider the robot given in Figure-1. Obtain the joint velocities 0, 02 (in rad/s) and d3 (in m/s), given the end effector velocity [xe ye el, the link lengths a, b, c, and the robot configuration 0, 0 (in rad) and d3 (in meters). The parameter set (a, b, c, 0, 02, d3, Xe, ye, e} is given in Table-1 personalized to each student independently. a ZO b Yo XO 02 Figure-1 C Xe Ve d3