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Find the Jacobian and singularity for the following 4-DOF manipulator: 03 [cos(0) 0 sin(0) 0 T = sin(0) 0 -cos(0) 0 0 1 0 di

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Find the Jacobian and singularity for the following 4-DOF manipulator: 03 [cos(0) 0 sin(0) 0 T = sin(0) 0 -cos(0) 0 0 1 0 di 0 0 0 1 AZA T (cos(02) -sin(02) 0 22 cos(@2)] sin(02) cos(2) 0 az sin(2) 0 1 0 0 0 (cos(04) - sin(0) 0 24 cos(04)] sin(0) T2 = cos(0) 0 Q, sin((,) 0 0 1 0 0 0 1 (cos(03) -sin(03) 0 az cos(03) T3 = sin(03) cos(03) 0 az sin(@3) 0 0 1 0 0 0 0

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