Question 2: For a three degree of freedom manipulator, with first two joints revolute and last joint prismatic, it is given that T3 = A A2 A3 where A. GO-S0] Si 0 C1 0 0 1 0 2 0 0 0 1. A2 = TC20 S2 0.302 S20-C2 0.392 0 1 0 0 0 0 0 1 Az [1 0 0 0 0 1 0 0 0 0 1 dz LO 0 0 1 Derive the Jacobian matrix with respect to base coordinate frame. Question 2: For a three degree of freedom manipulator, with first two joints revolute and last joint prismatic, it is given that T3 = A A2 A3 where A. GO-S0] Si 0 C1 0 0 1 0 2 0 0 0 1. A2 = TC20 S2 0.302 S20-C2 0.392 0 1 0 0 0 0 0 1 Az [1 0 0 0 0 1 0 0 0 0 1 dz LO 0 0 1 Derive the Jacobian matrix with respect to base coordinate frame