Introduction to Robotics 2.) Base function with a three-joint planar manipulator of the transformation matrix that gives the relationship between the elements of column 4 are given below. 61, 62, 63 angle Find the expressions. Px= L1C1 + L2C12 Py = L1S1 + L2512 Pz = L3 Introduction to Robotics 2.) Base function with a three-joint planar manipulator of the transformation matrix that gives the relationship between the elements of column 4 are given below. 61, 62, 63 angle Find the expressions. Px= L1C1 + L2C12 Py = L1S1 + L2512 Pz = L3