From the parameters given below, draw the kinematic diagram of the [8] robot. i 0 deg d a deg 1 0 0 0 2 92 0.15 -0.2 90 3 93 -0.15 0 90 4 94 0.35 0 0 5 0 0 -90 6 0.05 0 0 96 Perform analytical inverse kinematics of the robot given below: 8 deg 1 2 30 0 60 0 a 0.5 0.3 a deg 0 Determine the joint values for overlapping the end effector to (0,0.8).