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Question 1: Briefly define each of the following terms: forward kinematics, inverse kinematics, a manipulator's Jacobian, velocity kinematics, workspace, reachable workspace, dexterous workspace, configuration space,

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Question 1: Briefly define each of the following terms: forward kinematics, inverse kinematics, a manipulator's Jacobian, velocity kinematics, workspace, reachable workspace, dexterous workspace, configuration space, state space, end effector, kine- matic chain, spherical wrist, revolute joint, prismatic joint, kinematically redundant manipulator. (15 points)

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