off the book theory of applied robotics. subscribe to my youtube channel www.youtube.com/buililflipie and ill thumbs up the answer! dont forget to leave a comment on which one! a and b

3. A one-link RHR(-90) arm For the one-link RHR(-90) manipulator shown in Figure 5.51 (a) and lrotation in a rigid body motion 10 5. Forward Kinematics ate frame B is translated to Link 1 Z2 lo xi do Link 0 IGURE 5.51.A one-link RHR 90) manipulator e glob a) Find the transformation matrices T1,1T2, and T2 (b) Compare the transformation matrix 1T2 for both frame instal- lationseg about the-axis 3. A one-link RHR(-90) arm For the one-link RHR(-90) manipulator shown in Figure 5.51 (a) and lrotation in a rigid body motion 10 5. Forward Kinematics ate frame B is translated to Link 1 Z2 lo xi do Link 0 IGURE 5.51.A one-link RHR 90) manipulator e glob a) Find the transformation matrices T1,1T2, and T2 (b) Compare the transformation matrix 1T2 for both frame instal- lationseg about the-axis