Please give me the mathmatical answers for all below questions (a, b, c, d,e) noting that a=1 , b=8 as well as please advise me about the matlab code to solve all questions, thanks

Q1: A camera is attached to the end effector frame Tc of the 3DOF robot below as given. The robot then makes a differential motion described as D=[dx,dy,z]=[0.040.03,0.01]. Find the following when 1= 45,d2=2,d3=b. (a) Find the Forward Kinematics, Inverse kinematics, and singularities for this robot. (b) Determine the joint differential motions. (c) Calculate the change in the end effector frame. (d) Determine the updated position of the camera following this differential motion. (e) Compute the necessary differential motions, measured relative to FrameTc, that would be equivalent to moving the robot to the same new location as described in part (e). Tc=001001001000aa+1a+21