Figure Q3(a) shows the dimensions of robot's link 1, link 2 and related parameters of a revolute manipulator called RRR, for its inverse kinematics as well as dynamic model for control testings. To obtain expressions for joint variables 02 and 03, geometric method is used. 10 15 Pz Py Figure Q3(a) From Figure Q3(a), the joint variable 02 is the angle is 02 = a+ B. Produce the mathematical expression for 02. (a) (b) Produce the mathematical expression for 03. (c) Calculation out of the parameter 0, make use of the algebraic method based on the following transformation matrix equations. Let: T = GoalT [C$2 -S1 0 LS1 + L2C1 C1C2 0 1 Co -sp 0 Px O Py 1 . S1 sp d4 + 15 1 1 Produce the mathematical expression for 01.