Planar 3Dof Robot T 2 3 L 11 S 0 0 35345 h h 13 0 -5 0 0 4.c.1 0 4,5, 9 0 1 0. 001 Cz1 = cos(0, +0 +0) $23 = sin(8, +8 +8)" ZO T etc. 4000 || o 0 8 03* 00 Z3 CZ 0 21 Z2 XO 8 [C2 - 512 0 1,0 +40 0 1,5, +1,5 1 0. 001 T x1 x2 F123 -$121 5121 121 0 0 0 D 01c +1 015, +1, 1 0 0. 1 +1 +1,52 For the robot given, solve for elements of the Jacobian associated with the end effector. Please use syntax as follows: Simply your expression as much as possible