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For the given DH-parameter Table, solve the inverse kinematics using the closed form solution method and then write a code/Simulink to solve this problem.

For the given DH-parameter Table, solve the inverse kinematics using the closed form solution method and then write a code/Simulink to solve this problem. Joint ai-1 ai-1 d ; [100 0 1 0 1 qi (Variable) (i) 1 0 2.7 2.75 01 0 2 0 0 1 2.935 2 /2 0 0 02 0 000 1 3 0 2 0 03 0 4 1.3 0 04 0 5 /2 0 0 05

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