For the manipulator shown, find the twist coordinates f; at zero con- figuration and 9st (0) using the product of exponentials approach. Use the base and tool frames shown. (b) (10 points) Find efi0i for fi and fs. 14 1. (a) X S y 2 4 5 x T y 2. (20 points) Show how would you solve the inverse kinematics of the manipulator shown in Problem 1, given a desired ga. Use subproblems (all the subproblems including subproblems 2',4,5) or geometric arguments as you wish. How many solutions are possible (ignoring physically impossible solutions, i.e. negative displacements)? Please also write the coordinates of any intermediate points you used in the calculations. Hint: You may want to use geometric arguments to calculate 0.