Inverse kinematics is essential to design a controller of robotic system. Perform numerical calculation for inverse kinematics of the planner three-link manipulator whose algebraic solution procedure is given in Textbook Section 4.4. Figure Q2 shows the mechanism of the three-link planar manipulator and its link parameters. The following fixed-length parameters are given: L = 4 m, L2 = 3 m, and L3 = 2 m. The homogeneous transformation of the wrist frame relative to the base frame (WT) is given by [0.5000 -0.8660 0 0.8660 0.5000 0 5.53731 3.9266 BT 0 0 1 0 0 0 0 1 Calculate joint variables 01, 02 and 03. X ; 160 160 0 i ; - 1 ai-1 di 1 0 0 0 F 2 0 Li 3 0 02 S L2 0 03 Figure Q2: Three-link planar manipulator and its link parameters.