(Exercise 4.8, Lynch and Park) The RRRRPR open chain robot arm is shown in figure below. The zero position, the base (spatial) {0} and the end-effector (body) {b} frames are as shown in the figure. Determine the end-effector zero position configuration M, the screw axes Si in {0}. (Exercise 4.8, Lynch and Park) The RRRRPR open chain robot arm is shown in figure below. The zero position, the base (spatial) {0} and the end-effector (body) {b} frames are as shown in the figure. Determine the end-effector zero position configuration M, the screw axes Si in {0}